USPTO Patents Application 09775169

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US 20020050978A1

(19) United States

(12) Patent Application Publication (lo) Pub. No.: US 2002/0050978 Al

Rosenberg et ah (43) Pub. Date: May 2, 2002

(54) FORCE FEEDBACK APPUCATIONS BASED
ON CURSOR ENGAGEMENT WITH
GRAPHICAL TARGETS

(75) Inveoiors: Louis B. Rosenberg, Pleasanton, CA
(US); Dean C. Chang, Palo Alto, CA
(US)

Correspondence Address:
James R. Riegel

IMMERSION CORPORATION

801 Fox Lane

San Jose, CA 95131 (US)

(73) Assignee: Immersion Corporation

(21) Appl. No.: 09/992,123

(22) FUed: Nov. 13, 2001

Related U.S. Application Data

(63) Conlinuation of application No. 09/590,856, filed on
Jun. 8, 2000, now patented, which is a continuation of
apphcation No. 08/879,296, filed on Jun. 18, 1997,
now patented, which is a continuation-in-part of
application No. 08/571,606, filed on Dec. 13, 1995,
now patented and which is a continuation-in-part of
application No. 08/756,745, filed on Nov. 26, 1996,
now patented.

Publication Classification

(51) Int. Ci.' G09G 5/00; G09G 5/08

(52) U.S. CI 345/156; 345/163

(57) ABSTRACT

A method and apparatus for providing a click surface in a
graphical environment, such as a graphical user interface,
implemented on a host computer for use with a force
feedback interface device. A displayed cursor is controlled
by a user-moveable user object, such as a mouse, of the
interface device. A click surface is displayed with an asso-
ciated graphical object, such as a graphical button or an edge
of a window, icon, or other object. When the click surface is
contacted by the cursor, a force is output opposing move-
ment of the user object in a direction into the click surface
and into the graphical object. When the user object has
moved to or past a trigger position past the contact with the
click surface, a command gesture signal is provided to the
host computer indicating that the graphical object has been
selected as if a physical input device on the user object, such
as a button, has been activated by the user. Preferably, the
host computer displays the graphical environment including
the chck surface and cursor, while a microprocessor local to
the interface device controls the force output of the click
surface in parallel with the host display.

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US 2002/0050978 Al

START

READ POSITION OF
USER OBJECT

USE POSITION OF
USER OBJECT TO
DISPLAY CURSOR

7igum 3

READ POSITION- OF
USER OBJECT

1

REPORT
BUTTON PRESS
TO HOST AS
APPROPRIATE

DISPLAY
SURFACE AND

CURSOR
APPROPRIATELY

OUTPUT FORCE
BASED ON
ORIGINAL
POSITION

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FORCE FEEDBACK APPLICATIONS BASED ON
CURSOR ENGAGEMENT WITH GRAPfflCAL
TARGETS

CROSS REFERENCE TO RELATED
APPUCAHONS

[0001] This application is a continuation-in-part of co-
pending parent patent applications Sen No. 08/571,606, filed
Dec. 13 1995, on behalf of Rosenberg el al., entided
"Method and Apparatus for Providing Force Feedback for a
Graphical User Interface", and Ser. No, 08/756,745, filed
Nov. 26 1996, on behalf of Rosenberg et al., entitled, "Force
Feedback Interface having Isotonic and Isometric Function-
ality," assigned to the assignee of this present application,
and both of which are incorporated by reference herein.

BACKGROUND OF THE INVENTION

[0002] The present invention relates generally to interface
devices for allowing humans to interface wth computer
systems, and more particularly to computer interface devices
that allow the user to provide input to graphical environ-
ments on computer systems and provide force feedback to
the user.

[0003] Computer systems are used extensively in many
different industries to implement many applications, such as
word processing, data management, simulations, games, and
other tasks. A computer system typically displays a visual
environment to a user on a display screen or other visual
output device. Users can interact with the displayed envi-
ronment to perform functions on the computer, play a game,
experience a simulation or 'Virtual reality" environment, use
a computer aided design (CAD) system, browse the World
Wide Web, or otherwise influence events or images depicted
on the screen.

[0004] One visual environment that is particularly com-
mon is a graphical user interface (GUI). GUI's present
visual images which describe various graphical metaphors
for functions of a program or operating system implemented
on the computer. Common GUI's include the Windows®
operating system from Microsoft Corporation, the MacOS
operating system from Apple Computer, Inc., and X-Win-
dows for Unix operating systems. Tliese interfaces allows a
user to graphically select and manipulate functions of the
operating system and application programs by using an input
interface device. The user typically moves a user-controlled
graphical object, such as a cursor or pointer, across a
computer screen and onto other displayed graphical objects
or predefined screen regions, and then inputs a command to
execute a given selection or operation. The objects or
regions ("targets") can include, for example, icons, win-
dows, pull-down menus, buttons, and scroll bars. Most
GUI's are currently 2-dimensional as displayed on a com-
puter screen; however, three dimensional (3-D) GUI's that
present simulated 3-D environments on a 2-D screen can
also be provided.

[0005] Other programs or environments that may provide
user-controlled graphical objects such as a cursor include
browsers and other programs displaying graphical "web
pages" or other environments offered on the World Wide
Web of the Internet, CAD programs, video games, virtual
reality simulations, etc. In some graphical computer envi-
ronments, the user may provide input to control a 3-D

"view" of the graphical environment, i.e., the user-con-
trolled graphical "object" can be considered the view dis-
played on the video screen. The user can manipulate the
interface device to move the view, as if moving a camera
through which the user is looking. This type of graphical
manipulation is common in CAD or 3-D virtual reality
applications.

[0006] User interaction with and manipulation of the
graphical environment such as a GUI is achieved using any
of a variety of types of human-computer interface devices
that are connected to the computer system controlling the
environment. In most systems, the computer updates the
environment in response to the user's manipulation of a
user-ma nipulatable physical object ("user object") that is
included in the interface device, such as a mouse, joystick,
trackball, etc. The computer provides visual and audio
feedback of the GUI to the user utilizing the display screen
and, typically, audio speakers.

[0007] One problem with current implementation of
graphical user interfaces is that two distinct actions are
typically required of a user to select a function with the GUI:
first, the user must accurately guide the cursor to a desired
target using a mouse or other device, and second, the user
must press a physical button on the mouse or other device
while the cursor is displayed over the target. Often, the user
will inadvertently press the button while the cursor is not yet
at the target, or after the cursor has just overshot the target,
resulting in the desired function not being commanded; and
the user then has to reposition the cursor and press the button
again. Or, when a desired command requires the user to
guide the cursor over a target and "double -click" the physi-
cal button, the user often misses the desired command since
the cursor is off the target at the time of the second "click".
Another problem with the current target acquisition and
button press commands is that there is no physical feedback
to the user confirming that the selection/command process
has been successfully completed. A sound, such as a beep,
may be used in some cases to confirm a completed com-
mand, but this is not very intuitive feedback.

SUMMARY OF THE INVENTION

[0008] The present invention is directed to a force feed-
back implementation of a graphical environment in which
force feedback click surfaces are provided. These surfaces
allow a user to select buttons, icons, and other graphical
objects with movement of a mouse or other user manipu-
lable object without requiring a separate manual command
gesture, such as the pressing of a button on a mouse.

[0009] More specifically, the present invention provides a
method and apparatus that displays a click surface in a
graphical environment, such as a graphical user interface
(GUI), implemented on a host computer for use with a force
feedback interface device coupled to the host computer. A
user-controlled graphical object, such as a cursor, is dis-
played in the graphical envirormient at a position corre-
sponding to a position of a physical, moveable user object of
the interface device grasped by a user. When the click
surface is contacted by the cursor, a force is output opposing
movement of the user object in a direction into the click
surface and into the graphical object. When the user object
has moved to or past a trigger position past the contact with
the click surface, a command gesmre signal is provided to

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the host computer indicating that the graphical object has
been selected as if a physical input device on the user object,
such as a button, has been activated by the user, fteferably,
the user object is determined to have moved to the trigger
position when the user object has moved a predetermined
distance past the click surface from the point of contact. The
force opposing the user object is preferably proportional to
a distance between a present user object position and the
original contact position.

[0010] The click surfaces of the present invention are
described as three different types: an analog button, a
positive action button, and a static selection surface. The
analog button is a click surface that is displayed moving with
the user object as it moves into the graphical object. The
positive action button causes the click surface and the cursor
to remain displayed at an original position while the user
object moves past the click surface into the graphical object,
where the click surface is displayed at a new position when
the user object reaches the trigger position. Astatic selection
surface causes the click surface and the cursor to be dis-
played at an original position of the click surface while the
user object moves past the click surface into said graphical
object and when the trigger position is reached (alterna-
tively, the cursor can be moved with the user object).

[0011] The graphical object can be a graphical button in a
GUI or Web page graphical environment, so that when the
user object moves to the trigger position the button either
toggles from an off state to an on stale or from an on state
to an off state. The click surface can also be an edge of a
window, icon, or other object displayed in a graphical
environment. For example, the signal to the host computer
can indicate that an icon has been clicked or double -clicked
by the user. The click surface can allow the user to select at
least one program function associated with a graphical
object with which the click surface is associated.

[0012] The interface device preferably includes actuators
for outputting the force on the user object and sensors for
detecting the position of the user object. A microprocessor
local to the interface device can be included which reads the
sensors, reports motion of the user object to the host
computer, and controls the actuators. Preferably, the host
computer displays the graphical environment including the
click surface and the cursor, while the microprocessor
controls the force output of the click surface in parallel with
the host display of the graphical environment,

[0013] The microprocessor can receive an indication of a
click surface from the host computer and determines pen-
etration of the cursor into the click surface. The micropro-
cessor outputs a force opposing motion of the user object
into the click surface, and sends the host computer the
command gesture signal when the user object is moved to or
past the trigger position into the click surface. In one
embodiment, the host determines when the cursor contacts
the click surface and informs the microprocessor to output
the force by sending parameters describing the click surface
to the microprocessor. Alternatively, the microprocessor
determines when the cursor contacts the click surface using
location and other characteristic data of the click surface
previously sent to the microprocessor from the host. The
microprocessor can also clip data reported to the host
computer when the user object moves into the click surface,
such that the host does not display the cursor moving into the
surface.

[0014] The method and apparatus of the present invention
provide click surfaces for graphical objects in a displayed
graphical environment which can be selected by movement
of a cursor into the click surface. The user need not press a
button or manually activate an input device to select an icon,
push a graphical button, or otherwise manipulate graphical
objects. The force of the click surface opposing motion into
the click surface and trigger positions provide the user with
an intuitive ability to select the click surfaces when the user
desires. The microprocessor- host computer system provides
an efficient architecture for implementing the click surfaces.

[0015] These and other advantages of the present inven-
tion will become apparent to those skilled in the art upon a
reading of the following specification of the invention and a
study of the several figures of the drawing.

BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG. 1 is a perspective view of one embodiment of
a force feedback interface device suitable for use with the
present invention;

[0017] FIGS. 2a and 2b are top plan and side elevation
views of an embodiment of a mechanical apparatus suitable
for use in the interface device of FIG. 1;

[0018] FIG. 3 is a block diagram of a system for control-
ling a force feedback interface device of the present inven-
tion;

[0019] FIG. 4 is a diagram of a displayed graphical user
interface which includes click surfaces of the present inven-
tion;

[0020] FIGS. Sa-Sg are diagrammatic illustrations of an
analog button embodiment of the click surface of the present
invention;

[0021] FIGS. 6a-6g are diagrammatic illustrations of a
positive action button embodiment of the click surface of the
present invention;

[0022] FIGS. 7a'7d are diagrammatic illustrations of a
static selection surface embodiment of the click surface of
the present invention;

[0023] FIG. 8 is a diagrammatic illustration of an alternate
embodiment of the static selection surface of FIGS, 7a-7d;
and

[0024] FIG. 9 is a flow diagram illustrating a method of
the present invention for providing force feedback click
surfaces.

DETAILED DESCRIPTION OF PREFERRED
EMBODIMENTS

[0025] FIG. 1 is a perspective view of a force feedback
interface system 10 suitable for use with the click surfaces
of the present invention, capable of providing input to a host
computer based on the user's manipulation of the device
capable of providing force feedback to the user of the
interface device based on events occurring in a program
implemented by the host computer. Interface system 10
includes a user manipulable object 12, a mechanical inter-
face 14, an electronic interface 16, and a host computer 18.

[0026] User manipulable object 12 ("user object", "physi-
cal object", or "manipulandum") used in conjunction with

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the present invention is preferably grasped or gripped and
manipulated by a user. By "grasp," it is meant that users may
releasably engage a portion of the object in some fashion,
such as by hand, with their fingertips, or even orally in the
case of handicapped persons. For example, images are
displayed and/or modified on a display screen 20 of the
computer system 18 in response to such manipulations. The
illustrated interface system 10 includes a mouse object 22 as
a user manipulable object. Mouse 22 is shaped so that a
user's fingers or hand may comfortably grasp the object and
move it in the provided degrees of freedom in physical
space. For example, a user can move mouse 22 to corre-
spondingly move a computer generated graphical object,
such as a cursor or other image, in a graphical environment
provided by computer 18, The available degrees of freedom
in which user manipulable object 12 can be moved are
determined from the mechanical interface 14, described
below. In addition, mouse 22 preferably includes one or
more buttons 15 to allow the user to provide additional
commands to the computer system.

[0027] It will be appreciated that a great number of other
types of user manipulable objects 12 can be used with the
method and apparatus of the present invention. In fact, the
present invention can be used with any mechanical object
where it is desirable to provide a human/computer interface
with multiple degrees of freedom. Such objects may include
styluses, joysticks, spherical-, cubical-, or other-shaped hand
grips, screwdrivers, steering wheels/controls, pool cues,
medical instruments such as catheters, a stylus, a receptacle
for receiving a finger or a stylus, pointer, pool cue, medical
instrument, a flat, contoured, or gripped planar surface or
card member, etc.

[0028] Mechanical interface apparatus 14 interfaces
mechanical input and output between the user manipulable
object 12 and host computer 18 implementing the graphical
environment. Mechanical interface 14 provides multiple
degrees of freedom to object 12; in the preferred embodi-
ment, two linear, planar degrees of freedom are provided to
the object, although greater or fewer degrees of freedom can
be provided in alternate embodiments, as well as rotary
degrees of freedom. For many applications, mouse 12 need
only be moved in a very small area, shown as dashed line 26
in FIG, 1 as an example. This is because a graphical object
such as a cursor can be moved across the entire length or
width of screen 20 by moving mouse 12 only a short
distance in physical space.

[0029] In a preferred embodiment, the user manipulates
object 12 in a planar workspace, much like a traditional
mouse, and the position of object 12 is translated into a form
suitable for interpretation by position sensors of the
mechanical interface 14. The sensors track the movement of
the object 12 in planar space and provide suitable electronic
signals to electronic interface 16. Electronic interface 16, in
turn, provides position information to host computer 18, In
addition, host computer 18 and/or electronic interface 16
provides force feedback information to actuatore coupled to
mechanical interface 14, and the actuators generate forces on
members of the mechanical apparatus to provide forces on
object 12 in provided or desired degrees of freedom. The
user experiences the forces generated on the object 12 as
realistic simulations of force sensations such as jolts,
springs, textures, "barrier" forces, and the like. For example,
when a rigid surface is generated on computer screen 20 and

a computer object controlled by the user collides with the
surface, the computer 18 wiM send force feedback signals to
the electrical interface 16 and mechanical apparatus 14 to
generate collision forces on object 12. Or, the host computer
previously sends a layout of implemented graphical objects
to the local microprocessor, and the microprocessor inde-
pendently determines collisions and generates the necessary
force feedback when graphical objects collide. One embodi-
ment of mechanical interface 14 is shown in greater detail
with respect to FIGS. 2a-2b.

[0030] Electronic interface 16 is a component of the
interface system 10 and may couple the mechanical appa-
ratus 14 to the host computer 18. Electronic interface 16 can
be included within a housing of mechanical apparatus 14 or,
alternatively, electronic interface 16 can be included in host
computer 18. Or, all or portions of the electronic interface 16
can be provided as a separate unit with its own housing as
shown in FIG. 1. More particularly, electronic interface 16
includes a local microprocessor separate from any micro-
processors in the host computer 18 to control force feedback
independently of the host computer, as described below, as
well as sensor and actuator interfaces that convert electrical
signals to appropriate forms usable by mechanical apparatus
14 and host computer 18. A suitable embodiment of interface
16 is described in detail with reference to FIG. 5.

[0031] The electronic interface 16 can be coupled to
mechanical interface apparatus 14 by a bus 15 (or interface
16 is included within the housing of apparatus 14) and is
coupled to the computer 18 by a bus 17 (or may be directly
connected to a computer bus using a suitable interface). In
other embodiments, signals can be sent to and from interface
16 and computer 18 by wireless transmission/reception. In
preferred embodiments of the present invention, the inter-
face 16 serves as an input/output (1/0) device for the
computer 18, The interface 16 can also receive inputs from
other input devices or controls that are associated with
mechanical interface 14 or object 12 and can relay those
inputs to computer 18. For example, commands sent by the
user activating a button 15 on user object 12 can be relayed
to computer 18 by interface 16 to implement a command or
cause the computer 18 to output a command to the mechani-
cal apparatus 14.

[0032] Host computer 18 is preferably a personal com-
puter or workstation, such as an IBM-PC compatible com-
puter or Macintosh personal computer, or a SUN or Silicon
Graphics workstation. For example, the computer 18 can
operate under the Windows™ or MS-DOS operating system
in conformance with an IBM PC AT standard. Alternatively,
host computer system 18 can be one of a variety of home
video game systems commonly connected to a television set,
such as systems available fi-om Nintendo, Sega, or Sony. In
other embodiments, home computer system 18 can be a "set
top box" which can be used, for example, to provide
interactive television functions to users, or a "network-" or
"internet computer" which allows users to interact with a
local or global network using standard connections and
protocols such as used for the Internet and World Wide Web,
Host computer preferably includes a host microprocessor,
random access memory (RAM), read only memory (ROM),
input/output (t/0) circuitry, and other components of com-
puters well-known to those skilled in the art. Host computer
18 preferably implements a host application program with
which a user is interacting via mouse 12 and mechanical

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interface apparatus 14 and other peripherals, if appropriate.
For example, the host application program can be medical
simulation, vadeo game. World Wide Web page or browser
that uses, for example, HTML or VRML data, scientific
analysis program, virtual reality training program, or other
application program that utilizes input of user object 12 and
outputs force feedback commands to the object 12. Herein,
for simplicity, operating systems such as Windows''", MS-
DOS, MacOS, Unix, etc. are also referred to as "application
programs." In one preferred embodiment, the application
program utilizes a graphical user interface (GUI) to present
options to a user and receive input firom the user. Herein,
computer 18 may be referred as displaying "graphical
objects" or "computer objects." These objects are not physi-
cal objects, but are logical software unit collections of data
and/or procedures that may be displayed as images by
computer 18 on display screen 20, as is well known to those
skilled in the art. A displayed cursor or a simulated cockpit
of an aircraft might be considered a graphical object. The
host application program checks for input signals received
from electronic interface 16 and sensors of mechanical
interface 14, and outputs force values and commands to be
converted into forces on user object 12. Suitable software
drivers which interface such simulation software with com-
puter input/output (I/O) devices are available from Immer-
sion Human Interface Corporation of San Jose, Calif.

[0033] Display device 20 can be included in host computer
18 and can be a standard display screen (LCD, CRT, etc),
3-D goggles, or any other visual output device. Typically, the
host application provides images to be displayed on display
device 20 and/or other feedback, such as auditory signals.
For example, display screen 20 can display images from a
GUI. Images describing a moving, first person point of view
can be displayed, as in a virtual reality game. Or, images
describing a third -person perspective of objects, back-
grounds, etc, can be displayed. Alternatively, images from a
simulation, such as a medical simulation, can be displayed,
e.g., images of tissue and a representation of object 12
moving through the tissue, etc,

[0034] There are two primary "control paradigms" of
operation for interface system 10: position control and rate
control. Position control refers to a mapping of user object
12 in which displacement of the user object in physical space
directly dictates displacement of a graphical object. The
mapping can have an arbitrary scale factor or even be
non-linear, but the fundamental relation between user object
displacements and graphical object displacements should be
present. Under a position control mapping, the computer
object does not move unless the user object is in motion.
Also, "ballistics" for mice type devices can be used, in
which small motions of the mouse have a different scaling
factor for cursor movement than large motions of the mouse
to allow more control of small movements. Position control
is not a popular mapping for traditional computer games, but
is popular for other applications such as graphical user
interfaces (GUI's) or medical procedure simulations.

[0035] As shown in, FIG. 1, the host computer may have
its own "host frame"28 which is displayed on the display
screen 20. In contrast, the moiise 12 has its own "local
frame"30 in which the mouse 12 is moved. In a position
control paradigm, the position (or change in position) of a
user-controlled graphical object, such as a cursor, in host

frame 28 corresponds to a position (or change in position) of
the mouse 12 in the local frame 30.

[0036] The offset between the graphical object in the host
frame and the object in the local &ame can preferably be
changed by the user in an "Indexing mode." If mouse 12
reaches a limit to movement in the provided planar work-
space, indexing allows the mouse 12 to be repositioned with
respect to the user-controlled graphical object such as a
cursor. Indexing is preferably achieved through an input
device, such as button 15 or switches, sensors, or other input
devices. For example, a specialized indexing button can be
provided. While the indexing button is activated, the user
object 12 is in indexing mode and can be moved without
providing location data to the host computer. When the
button is deactivated, non-indexing mode is resumed, and
cursor position is again controlled by the position of the user
object. In one embodiment, the functionality of a safety
switch and the indexing mode are integrated into one input
device, where indexing mode is active when the safely
switch is opened, thus deactivating actuators when the
mouse 12 is repositioned. Indexing mode can be performed
directly by the host computer 18, or by local microprocessor
200. For example, local processor 20N9 can determine when
indexing mode is active, and simply not report the position
of the user object 12 to the host computer 18 while such
mode is active.

[0037] Rate control is also used as a control paradigm.
This refers to a mapping in which the displacement of the
mouse 12 along one or more provided degrees of freedom is
abstractly mapped to motion of a computer-simulated object
under control. There is not a direct physical mapping
between physical object (mouse) motion and computer
object motion. Thus, most rate control paradigms are fun-
damentally different from position control in that the user
object can be held steady at a given position but the
controlled graphical object is in motion at a commanded or
given velocity, while the position control paradigm only
allows the controlled computer object to be in motion if the
user object is in motion.

[0038] The mouse interface system 10 is adept at both
position control ("isotonic") tasls and rate control ("isomet-
ric**) tasks. For example, as a traditional mouse, the position
of mouse 12 in the workspace 24 can be directly mapped to
a position of a cursor on display screen 20 in a position
control paradigm. Alternatively, the displacement of mouse
12 in a particular direction against an opposing output force
can command rate control tasks in an isometric mode. An
implementation that provides both isotonic and isometric
functionality for a force feedback controller and which is
very suitable for the present invention is described in parent
application Ser. No. 08/756,745, incorporated by reference
herein.

[0039] Mouse 22 can be moved on a grounded pad 24 or
similar surface in some embodiments of the present inven-
tion. In some embodiments, mouse 22 does not touch pad 24
or ground surface 31 since it is coupled to a mechanical
structure or suspended above the pad. Thus, the pad can be
used as a reference for the user to show the workspace of the
mouse. In alternate embodiments, mouse 22 can touch the
surface of pad 24 or grounded surface 31 to provide addi-
tional support for the mouse and relieve stress on mechani-
cal apparatus 14. In such an embodiment, a wheel, roller, or

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other device is preferably used on mouse to minimize
friction between the mouse and the contacted surface.

[0040] Mouse 22 can be used, for example, to control a
computer-generated graphical object such as a cursor dis-
played in a graphical computer environment, such as a GUI.
The user can move the puck in 2D planar workspace to move
the cursor to graphical objects in the GUI or perform other
tasks. In other graphical environments, such as a virtual
reality video game, a user can be controlling a computer
player or vehicle in the virtual environment by manipulating
the mouse 12. The computer system tracks the position of
the mouse with sensors as the user moves it. The computer
system may also provide force feedback to the mouse, for
example, when the user moves the graphical object against
a generated surface such as an edge of a window, a virtual
wall, etc. It thus appears and feels to the user that the mouse
and the graphical object are contacting real surfaces.

[0041] FIG. 2fl is a top plan view and FIG. 26 is a side
elevational view of one embodiment 70 of mechanical
apparatus 14 and user object 12 suitable for use in interface
system 10, in which electromagnetic voice coil actuators are
used to provide forces to the user object. Such voice coil
actuators are described in greater detail in co-pending patent
application Ser. No, 08/560,091, hereby incorporated by
reference herein in its entirety, and application Ser, No.
08/756,745. Interface apparatus 70 provides two linear
degrees of freedom to user object 12 so that the user can
translate object 12 in a planar workspace along the X axis,
along the Y axis, or along both axes (diagonal movement).
Apparatus 70 includes user object 12 and a board 72 that
includes voice coil actuators 74fl and 74b and guides 80.

[0042] Apparatus 70 includes user object 12 and a board
72 that includes voice coil actuators 74fl and 74Z> and guides
80. Object 12 is rigidly coupled to board 72, which, for
example, can be a circuit board etched with conductive
materials. Board 72 is positioned in a plane substantially
parallel to the X-Y plane and floats. Board 72 and object 12
may thus be translated along axis X and/or axis Y, shown by
arrows 78a and 18b and guided by guides 80, thus providing
the object 12 with linear degrees of freedom. Board 72 is
provided in a substantially right-angle orientation having
one extended portion H2a at 90 degrees from the other
extended portion H2b.

[0043] Voice coil actuators 74a and 746 are positioned on
board 72 such that one actuator 74^ is provided on portion
S2a and the other actuator 746 is provided on portion 826.
Wire coil 84fl of actuator 74a is coupled to portion 82a of
board 72 and includes at least two loops of wire etched or
otherwise placed onto board 72, preferably as a printed
circuit board trace. Terminals 86a are coupled to actuator
drivers, so that host computer 12 or microprocessor 26 can
control the direction and/or magnitude of the current in wire
coil 84a. Voice coil actuator 74a also includes a magnet
assembly 88a, which preferably includes four magnets 90
and is grounded, where coil 84a is positioned between
opposing polarities of the magnet.

[0044] The magnetic fields from magnets 90 interact with
a magnetic field produced from wire coil 84a when current
is flowed in coil 84fl to produce forces. As an electric current
I is flowed through the coil 84a via electrical connections
86a, a magnetic field is generated from the current and
configuration of coil 84a. The magnetic field from the coil

then mleracts with the magnetic fields generated by magnets
90 to produce a force on board 72 and on object 12 along
axis Y. The magnitude or strength of the force is dependent
on the magnimde of the current that is applied to the coil, the
number of loops in the coil, and the magnetic field strength
of the magnets. The direction of the force depends on the
direction of the current in the coil. A voice coil actuator can
be provided for each degree of freedom of the mechanical
apparatus to which force is desired to be applied.

[0045] Limits 91 or physical stops can be positioned at the
edges of the board 72 to provide a movement limit. Voice
coil actuator 746 operates similarly to actuator 74o to
produce a force on board 72 and object 12 along axis X. In
yet other embodiments, the translatory motion of board 72
along axes X and Y can be converted to two rotary degrees
of freedom, or additional degrees of freedom can be simi-
larly provided with voice-coil actuation, such as an up-down
or spin degrees of freedom along/about a z-axis.

[0046] Voice coil actuator 74a can also be used as a sensor
to sense the velocity, position, and or acceleration of board
72 along axis Y. Motion of coil 84a along axis Y within the
magnetic field of magnets 90 induces a voltage across the
coil 84a, and this voltage can be sensed. This voltage is
proportional to the velocity of the coil and board 72 along
axis Y From thus derived velocity, acceleration or position of
the board 72 can be derived. In other embodiments, separate
digital sensors may be used to sense the position, motion,
etc. of object 12 in low cost interface devices. For example,
a lateral effect photo diode sensor 92 can be used, including
a rectangular detector 94 positioned in a plane parallel to the
X-Y plane onto which a beam of energy 96 is emitted from
a grounded emitter 98. The position of the board 72 and
object 12 can be determined by the location of the beam 96
on the detector.

[0047] An alternate embodiment of a mechanical appara-
tus 14 having linear electromagnetic actuators and a rotary
or flexible linkage can also be used and is described in patent
application Sen No. 08/756,745.

[0048] A different embodiments of a mechanical apparatus
14 for a mouse interface system includes a mechanical
linkage, and is described in detail in parent application Ser.
No. 08/756,745. Other mechanisms can also be used in other
embodiments to provide a user object 12 with two or more
degrees of freedom. Other embodiments having rotary
degrees of freedom are also suitable for the present inven-
tion and are disclosed therein. Other embodiments may
include a joystick or other user objects rather than a mouse
to control cursors or other graphical objects; one suitable
joystick embodiment with a closed-loop five bar linkage as
mechanical apparatus 14 is disclosed in application Ser. No.
08/571,606.

[0049] FIG. 3 is a block diagram illustrating electronic
interface 16 and host computer 18 suitable for use with the
present invention. Interface system 10 includes a host com-
puter 18, electronic interface 16, mechanical apparatus 14,
and user object 12. Electronic interface 16, mechanical
apparatus 14, and user object 12 can also collectively be
considered a "force feedback interface device"13 that is
coupled to the host. A similar system is described in detail
in co-pending patent application Ser. No. 08/566,282, which
is hereby incorporated by reference herein in its entirety.
[0050] As explained with reference to FIG. 1, computer
18 is preferably a personal computer, workstation, video

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game console, or other computing or display device. Host
computer system 18 commonly includes a host micropro-
cessor 180, random access memory (RAM) 182, read-only
memory (ROM) 184, input/output (I/O) electronics 186, a
clock 188, a display device 20, and an audio output device
190. Host microprocessor 180 can include a variety of
available microprocessors from Intel, AMD, Motorola, or
other manufacturers. Microprocessor 180 can be single
microprocessor chip, or can include multiple primary and/or
co-processors. Microprocessor preferably retrieves and
stores instructions and other necessary data from RAM 182
and ROM 184 as is well known to those skilled in the art.
In the described embodiment, host computer system 18 can
receive sensor data or a sensor signal via a bus 192 from
sensors of apparatus 14 and other information. Micropro-
cessor 180 can receive data from bus 192 using I/O elec-
tronics 186, and can use I/O electronics to control other
peripheral devices. Host computer system 18 can also output
commands to interface device 13 via bus 192 to cause force
feedback for the interface system 10.

[0051] Clock 188 is a standard clock crystal or equivalent
component used by host computer 18 to provide timing to
electrical signals used by host microprocessor 180 and other
components of the computer system 18. Display device 20
is described with reference to FIG. 1. Audio output device
190, such as speakers, can be coupled to host microproces-
sor 180 via amplifiers, filters, and other circuitry well known
to those skilled in the art. Other types of peripherals can also
be coupled to host processor 180, such as storage devices
(hard disk drive, CD ROM drive, floppy disk drive, etc.),
printers, and other input and output devices.

[0052] Electronic interface 16 is coupled to host computer
system 18 by a bi-directional bus 192 (bus 17 of FIG. 1 can
include bus 192 and/or bus 194). The bi-directional bus
sends signals in either direction between host computer
system 18 and the interface device 13. Bus 192 can be a
serial interface bus providing data according to a serial
communication protocol, a parallel bus using a parallel
protocol, or other types of buses. An interface port of host
computer system 18, such as an RS232 serial interface port,
connects bus 192 to host computer system 18. In another
embodiment, an additional bus 194 can be included to
communicate between host computer system 18 and inter-
face device 13. Bus 194 can be coupled to a second port of
the host computer system, such as a "game port", such that
two buses 192 and 194 are used simultaneously to provide
a increased data bandwidth. One preferred serial interface
used in the present invention is the Universal Serial Bus
(USB). The USB standard provides a relatively high speed
serial interface that can provide force feedback signals in the
present invention with a high degree of realism. USB can
also source power to drive actuators and other devices of the
present invention. Since each device that accesses the USB
is assigned a unique USB address by the host computer, this
allows multiple devices to share the same bus. In addition,
the USB standard includes timing data that is encoded along
with differential data.

[0053] Electronic interface 16 includes a local micropro-
cessor 200, local clock 202, local memory 204, sensor
interface 206, and actuator interface 208. Interface 16 may
also include additional electronic components for commu-
nicating via standard protocols on buses 192 and 194. In

various embodiments, electronic interface 16 can be
included in mechanical apparatus 14, in host computer 18, or
in its own separate housing.

[0054] Local microprocessor 200 preferably coupled to
bus 192 and may be closely linked to mechanical apparatus
14 to allow quick communication with other components of
the interface device. Processor 200 is considered "local" to
interface device 13, where "local" herein refers to processor
200 being a separate microprocessor from any processors
180 in host computer 18. "Local" also preferably refers to
processor 200 being dedicated to force feedback and sensor
1/0 of the interface system 10, and being closely coupled to
sensors and actuators of the mechanical apparatus 14, such
as within the housing of or in a housing coupled closely to
apparatus 14. Microprocessor 200 can be provided with
software instructions to wait for commands or requests from
computer host 18, parse/decode the command or request,
and handle/control input and output signals according to the
command or request. In addition, processor 200 preferably
operates independently of host computer 18 by reading
sensor signals and calculating appropriate forces from those
sensor signals, time signals, and force processes selected in
accordance with a host command, and output appropriate
control signals to the actuators. Suitable microprocessors for
use as local microprocessor 200 include the MC68HC711E9
by Motorola and the P1C16C74 by Microchip, for example.
Microprocessor 200 can include one microprocessor chip, or
multiple processors and/or co-processor chips. In other
embodiments, microprocessor 200 can include digital signal
processor (DSP) functionality.

[0055] For example, in one host-controlled embodiment
that utilizes microprocessor 200, host computer 18 can
provide low-level force commands over bus 192, which
microprocessor 200 directly transmits to the actuators. In a
different local control embodiment, host computer system
18 provides high level supervisory commands to micropro-
cessor 200 over bus 192, and microprocessor 200 manages
low level force control loops to sensors and actuators in
accordance with the high level commands and indepen-
dently of the host computer 18. In the local control embodi-
ment, the microprocessor 200 can process inputted sensor
signals to determine appropriate output actuator signals by
following the instructions of a "force process" that may be
stored in local memory and includes calculation instructions,
formulas, force magnitudes, or other data. The force process
can command distinct force sensations, such as vibrations,
textures, jolts, enclosures, or simulated interactions between
displayed objects. Sensor signals used by microprocessor
200 are also reported to host computer system 18, which
updates a host application program and outputs force control
signals as appropriate. For example, if the user moves a user
object 12, the computer system 18 receives position and/or
other signals indicating this movement and can move a
displayed cursor in response. These embodiments are
descri*bed in greater detail in co-pending application Ser.
Nos. 08/534.791 and 08/566,282. In an alternate embodi-
ment, no local microprocessor 200 is included in interface
system 10, and host computer 18 directly controls and
processes all signals to and from the interface 16 and
mechanical apparatus 14.

[0056] A local clock 202 can be coupled to the micropro-
cessor 200 to provide timing data, similar to system clock
188 of host computer 18; the liming data might be required.

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for example, to compute forces output by actuators 30 (e.g.,
forces dependent on calculated velocities or other time
dependent factors). In alternate embodiments using the USB
communication interface, liming data for microprocessor
200 can be retrieved from the USB interface. Local memory
204, such as RAM and/or ROM, is preferably coupled to
microprocessor 200 in interface 16 to store instructions for
microprocessor 200 and store temporary and other data,
such as data pertaining to objects in a graphical user inter-
face or locations required for force determination. Micro-
processor 26 may also store calibration parameters in a local
memory 204 such as an EEPROM.

[0057] Sensor interface 206 may optionally be included in
electronic interface 16 convert sensor signals to signals that
can be interpreted by the microprocessor 200 and/or host
computer system 18. For example, sensor interface 206 can
receive signals from a digital sensor such as an encoder and
converts the signals into a digital binary number represent-
ing the position of a shaft or component of mechanical
apparatus 14. Or, sensor signals from the sensors can be
provided directly to host computer system 18, bypassing
microprocessor 200 and sensor interface 206. Other types of
interface circuitry 206 can also be used. For example, an
electronic interface is described in U.S. Pat. No. 5,576,727,
which is hereby incorporated by reference herein.

[0058] Actuator interface 208 can be optionally connected
between the actuators of apparatus 14 and microprocessor
200. Interface 208 converts signals from microprocessor 200
into signals appropriate to drive the actuators. Interface 208
can include power amplifiers, switches, digital to analog
controllers (DACs), and other components. Such interfaces
are well known to those skilled in the art. In alternate
embodiments, interface 208 circuitry can be provided within
microprocessor 200 or in the actuators.

[0059] Power supply 210 can optionally be coupled to
actuator interface 208 and/or actuators 222 to provide elec-
trical power. Active actuators typically require a separate
power source to be driven. Power supply 210 can be
included within the housing of interface 16 or apparatus 14,
or can be provided as a separate component, for example,
connected by an electrical power cord. Alternatively, if the
USB or a similar communication protocol is used, actuators
and other components can draw power from the USB and
thus have no (or minimal) need for power supply 210.
Alternatively, power from the USB can be stored and
regulated by interface 16 or apparatus 14 and thus used when
needed to drive actuators 222. For example, power can be
stored over time by a battery or capacitor circuit.

[0060] Mechanical apparatus 14 is coupled to electronic
interface 16 preferably includes sensors 220, actuators 222,
and mechanism 224. Sensors 220 sense the position, motion,
and/or other characteristics of a user object 12 along one or
more degrees of freedom and provide signals to micropro-
cessor 200 including information representative of those
characteristics, as described above. Digital sensors, analog
sensors, and/or non-contact sensors, such as Polhemus
(magnetic) sensors for detecting magnetic fields from
objects, or an optical sensor such as a lateral effect photo
diode having an emitter/detector pair, can be used. Also,
velocity sensors (e.g., tachometers) for measuring velocity
of object 12 and/or acceleration sensors (e.g., accelerom-
eters) for measuring acceleration of object 12 can be used.

[0061] Actuators 222 transmit forces to user object 12 in
one or more directions along one or more degrees of
freedom in response to signals output by microprocessor 200
and/or host computer 18, i.e., they are "computer con-
trolled." Typically, an actuator 222 is provided for each
degree of freedom along which forces are desired to be
transmitted. Actuators 222 can include two types: active
actuators and passive actuators. Active actuators include
linear current control motors, stepper motors, pneumatic/
hydraulic active actuators, a torquer (motor with limited
angular range), a voice coil actuator, and other types of
actuators that transmit a force to an object. Passive actuators
can include such as magnetic particle brakes, friction brakes,
pneumatic/hydraulic passive acmators, or viscous dampeis,
and generate a damping resistance or friction in a degree of
motion. In addition, in voice coil embodiments, multiple
wire coils can be provided, where some of the coils can be
used to provide back EMF and damping forces,

[0062] Mechanism 224 can be one of several types of
mechanisms, including those described above in FIG. 2. For
example, mechanisms disclosed in co-pending patent appli-
cation Ser. Nos. 08/092,974, 08/275,120, 08/344,148,
08/374,288. 08/400,233, 08/489,068, 08/560,091, 08/623,
660, 08/664,086, and 08/709,012, all hereby incorporated by
reference herein in their entirety, can be included. User
object 12 can be a mouse, puck, joystick, stylus receiving
object, finger receiving object, or other device or article
coupled to mechanism 220, as described above,

[0063] Other input devices 228 can optionally be included
in interface system 10 and send input signals to micropro-
cessor 200 and/or host computer 18. Such input devices can
include buttons, such as buttons 15 on mouse 12, used to
supplement the input from the user to a GUI, game, simu-
lation, etc. Also, dials, switches, thumb wheels, hat switches,
voice recognition hardware (with software implemented by
host 18), or other input devices can be used.

[0064] Safety or "deadman" switch 212 is preferably
included in interface device to provide a mechanism to allow
a user to override and deactivate actuators 222, or require a
user to activate actuators 222, for safety reasons. For
example, the user must continually activate or close safety
switch 212 during manipulation of user object 12 to activate
the actuators 222. If, at any time, the safety switch is
deactivated (opened), power from power supply 210 is cut
to actuators 222 (or the actuators are otherwise deactivated)
as long as the safety switch is deactivated. One embodiment
of safety switch is a mechanical or optical switch located on
user object 12 that is closed when the sensor of the switch
is blocked from sensing ambient light by the user's hand.
Other types of safety switches 212 can also be used, such as
an electrostatic contact switch or a hand weight safety
switch that detects the weight of the user's hand, as dis-
closed in parent application Ser. No, 08/756.745, In some
embodiments, the state of the safety switch is provided to the
microprocessor 200 and/or can be sent to the host 18, which
can choose to stop sending force feedback commands if the
safely switch is open.

[0065] In some embodiments of interface system 10. mul-
tiple mechanical apparatuses 14 and/or electronic interfaces
16 can be coupled to a single host computer system 18
through bus 192 (or multiple buses 192) so that multiple
users can simultaneously interface with the host application

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program (in a multi-player game or simulation, for
example). In addition, multiple players can interact in the
host application program with multiple interface systems 10
using networked host computers 18, as is well known to
those skilled in the art.

[0066] FIG. 4 is a diagrammatic illustration of display
screen 20 displaying a graphical user interface (GUI) 300
used for interfacing with an application program and/or
operating system implemented by computer system 18. The
present invention implements force feedback technologies
to embellish a graphical user interface with physical sensa-
tions. By communicating with interface device 13 (or a
similar force feedback apparatus), the computer 18 can
present not only standard visual and auditory information to
the user, but also physical forces. These physical forces can
be carefully designed to enhance manual performance in at
least two ways. First, physical forces can be used to provide
haptic sensory cues on user object 12 which increase a user's
perceptual understanding of the GUI spatial "landscape"
portrayed on display screen 20. Second, computer-generated
forces can be used to provide physical constraints or assis-
tive biases which actually help the user acquire and maintain
the cursor at a given target displayed on screen 20 within
GUI 300. A detailed explanation of forces provided within
a GUI or other graphical environment and many different
examples of forces provided for different graphical objects
and areas in GUI 300 are described in parent patent appli-
cation Ser. Nos. 08/571,606 and 08/756,745.

[0067] The manual tasks of the user to move a cursor
displayed on screen 20 by physically manipulating physical
user object 12 in order to command the cursor to a desired
location or displayed object, can be described as "targeting"
activities. "Targets," as referenced herein, are defined
regions in the GUI 300 to which a cursor may be moved by
the user that are associated with one or more forces and
which are typically associated with graphical objects of GUI
300. Such targets can be associated with, for example,
graphical objects such as icons, pull-down menu items, and
graphical buttons. A target usually is defined as the exact
dimensions of its associated graphical object, and is super-
imposed and "attached" to its associated graphical object
such that the target has a constant spatial position with
respect to the graphical object. In the GUI context, "graphi-
cal objects" are those images appearing on the display
screen which the user may select with a cursor to implement
a function of an application program or operating system,
such as displaying images, executing an application pro-
gram, or performing another computer function (a cursor
may also be considered a graphical object.). For simplicity,
the term "target" may refer to the entire graphical object
with which the target is associated. However, more gener-
ally, a target need not follow the exact dimensions of the
graphical object associated with the target and can also be a
different size and/or shape or may be positioned a distance
away from its associated graphical object The entire screen
or background of GUI 300 can also be considered a "target"
which may provide forces on user object 12.

[0068] Upon moving the cursor to the desired target, the
user typically maintains the cursor at the acquired target
while providing a "command gesture" associated with a
physical action such as pressing a button, squeezing a
trigger, or otherwise providing a command to execute a
particular (isotonic) program function associated with the

target. For example, the "click** (press) of a physical button
positioned on a mouse while the cursor is on an icon allows
an application program that is associated with the icon to
execute. Likewise, the click of a button while the cursor is
on a portion of a window allows the user to move or "drag**
the window across the screen by moving the user object.

[0069] llie present invention provides alternatives in
inputting a command gesture to the host computer system,
in which the mechanical button or other physical input
device need not be activated. Instead, "click surfaces" are
provided within the graphical environment itself to provide
the command gestures. Click surfaces are described in
greater detail below.

[0070] The GUI permits the user to access various func-
tions implemented by an operating system or application
program running on computer system 18. These functions
typically include, but are not limited to, peripheral input/
output functions (such as writing or reading data to disk or
another peripheral), selecting and running application pro-
grams and other programs that are independent of the
operating system, selecting or managing programs and data
in memory, viewing/display functions (such as scrolling a
document in a window, displaying and/or moving a cursor or
icon across the screen, displaying or moving a window,
displaying menu titles and selections, etc.), and other func-
tions implemented by computer system 18. For simplicity of
discussion, the functions of application programs such as
word processors, spreadsheets, CAD programs, video
games, web pages, and other applications as well as fiuic-
tions of operating systems such as Windows™, MacOS™,
and Unix, will be subsumed into the term "program func-
tions," Typically, application programs make use of such
functions to interface with the user; for example, a word
processor will implement a window function of an operating
system (or GUI, if the GUI is separate from the operating
system) to display a text file in a window on the display
screen.

[0071] In addition, other types of interfaces are also con-
sidered GUI's herein and can be used with the present
invention. For example, a user can set up a "web page" on
the World Wide Web which is implemented by a remote
computer or server. The remote computer is connected to
host computer 18 over a network such as the Internet and the
Web page can be accessed by different users through the
network using a browser or similar program. The page can
include graphical objects similar to the graphical objects of
a GUI, such as icons, pull-down menus, graphical buttons,
etc., as well as other graphical objects, such as "links" that
access a different web page or page portion when selected.
These graphical objects can have forces associated with
them for use with the click surfaces of the present invention.
Force feedback used with Web pages and interfaces is
described in greater detail in co-pending patent application
Ser. No, 08/691,852, which is hereby incorporated by ref-
erence herein in its entirety.

[0072] GUI 300 is preferably implemented on host com-
puter 18 and the associated feel sensations implemented
with assistance of processor 200 using program instructions.
The use of program instructions to perform functions and
operations on a host computer 18 and/or microprocessor 200
is well known to those skilled in the art, and can be stored
on a "computer readable medium." Herein, such a medium

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includes by way of example memory such as RAM and
ROM coupled to host computer 18, memory 204, magnetic
disks, magnetic tape, optically readable media such as CD
ROMs, semiconductor memory aich as PCMCIA cards, etc.
In each case, the medium may take the form of a portable
item such as a small disk, diskette, cassette, etc., or it may
take the form of a relatively larger or immobile item such as
a hard disk.

[0073] In a preferred embodiment, high-level host com-
mands can be used to indicate the various forces used in the
present invention. The local control mode using micropro-
cessor 200 can be help&jl in increasing the response time for
forces applied to the user object, which is essential in
creating realistic and accurate force feedback. For example,
it may be convenient for host computer 18 to send a "spatial
representation" to microprocessor 200, which is data
describing the layout of some or all the graphical objects
displayed in the GUI which are associated with forces and
the types of these graphical objects. The microprc)cessor can
store such a spatial representation in memory 204. In addi-
tion, the microprocessor 200 can be provided with the
necessary instructions or data to check sensor readings,
determine cursor and target (graphical object) positions, and
determine output forces independently of host computer 18.
The host could implement program functions (such as
displaying images) when appropriate, and synchronization
signals can be communicated between processor 200 and
host 18 to correlate the microprocessor and host processes.
Also, memory 204 can store predetermined force sensations
for microprocessor 200 that are to be associated with par-
ticular types of graphical objects.

[0074] For example, one useful host command for use
with force feedback in GUI's is an "enclosure" command.
The enclosure command instructs the interface device 13 to
define a rectangular region composed of four surfaces (or
walls). The enclosure sensation is typically a.ssocialed with
graphical objects in the GUI that are rectangular in nature.
For example, an enclosure can represent the feel of inter-
acting with a window boundary, the feel of a spread -sheet
cell, the feel of a rectangular button, the feel of a menu bar,
the feel of a menu element. Sensations associated with the
enclosure include a "barrier" feel upon entering or exiting
the region, a texture sensation when rubbing along a bound-
ary surface, and a texture sensation when within the bounds
of the enclosure. The host computer defines characteristics
of the enclosure to be implemented by the local micropro-
cessor by specifying parameters to the local microprocessor,
which may include:

[0075] Location and Size of the enclosure: The loca-
tion is synchronized between the host frame and the
local frame. If indexing is allowed (see FIG. 6c),
then an X offset and Yofifeet is tracked between these
two frames. If indexing is not allowed, the mapping
is fixed between the two frames. Ideally, the index
offset is maintained by the local microprocessor.

[0076] WaU Stiffness and Wall Width: Each of the
walls of the enclosure can have a stiffness (or hard-
ness) that represents the strength of the force that
resists penetration of the wall. Each of the walls of
the enclosure also can have a width (or puncture) that
represents how easy or hard it is to pop through the
wall to the other side. Each wall can have two values

for stiffness and width, corresponding to each direc-
tion from which the cursor approaches the wall.

[0077] Surface Texture and Surface Fiction: A texture
and/or friction feel can be provided when the cursor
moves along the surface of the wall to create a
rubbing sensation. Surface friction is one or more
parameters that governs surface viscous damping or
coulomb friction in the parallel direction when the
cursor is engaged against a wall of the enclosure.
Surface texture is defined by parameters that governs
the texture force perpendicular to the wall when the
cursor is engaged against the wall, and can include a
spatial frequency and an intensity.

[0078] Clipping: When clipping is on, the mouse
device creates a perceptual illusion of wall-hardness
by breaking the mapping between the cursor and
mouse position in the direction into the wall. The
mouse reports to the host computer a fixed location
value with respect to motion into the wall, causing
the cursor to be displayed at the wall, even if the user
is pushing the mouse beyond the surface of the
simulated wall. The direct mapping between mouse
and cursor location Ls restored when the user object
is moved away from the wall. The end result is a wall
that is perceived as being rigid, even if it is not.
Dipping can have a penetration threshold, such that
when the user object moves the threshold, the normal
mapping between mouse and cursor is restored.

[0079] Pressure Mode: is an optional on/off param-
eter that allows the amount of force the user provides
against (normal to) the wall to modify the intensity
of friction and texture force sensations felt when
moving along the wall surface.

[0080] 'Ilirough-Slate: When on, allows the local
microprocessor to automatically terminate the enclo-
sure when a. user passes across a wall in a particular
direction.

[0081] Central Region Texture/Friction: Governs texture
and friction of the inside region of the enclosure (i.e., when
the cursor is inside the rectangle and not pressing against a
wall).

[0082] Speed of Engagement: Sensations associated
with crossing a wall in a given direction may have a
speed threshold associated with them. For example,
when moving the cursor quickly over an enclosure
the user will not feel any of the sensations, but when
moving the" cursor slowly, the user will feel the
sensations. A global speed parameter can be defined
if desired. Individual speed parameters can also be
defined for individual force sensations.

[0083] Scroll Surface: Any wall of the enclosure can
be defined as a scroll surface. When a wall is
penetrated some distance, then an analog value pro-
portional to the distance is reported by microproces-
sor to the host and used to control a host rate control
function, such as scrolling a window, zooming an
image, or banking an airplane. A scroll scale factor
can adjusts the rate of change of the analog value
with respect to penetration of the surface. A direc-
tionality parameter defines the surface as engageable
from either crossing direction. A specific scroll sur-

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face engage speed can be used similarly to the speed
of engagement parameter. This is described in
greater detail in parent application Ser. No. 08/756,
745.

[0084] Click surface: Defines properties of click sur-
faces of the present invention on the sides of the
enclosure. This is discussed in greater detail below,

[0085] The local microprocessor can also store multiple
enclosure sensations simultaneously. In the preferred
embodiment, the local processor can only store enclosures
that do not overlap each other and it is assumed that all
enclosures active on the local processor are at the same level
of hierarchy on the host system. In other words, only the top
layer of the hierarchy (e.g., only the active window) are
provided with enclosure sensations by the local processor. In
a more complex embodiment, enclosures could overlap but
each enclosure could be downloaded with a hierarchy
parameter that indicates which enclosure should be felt by
the user in an overlap situation. Other types of host com-
mands can use click surfaces as a parameter as well.

[0086] In FIG. 4, the display screen 20 displays a GUI
300, which can, for example, be implemented by a Microsoft
Windows® operating system, a Macintosh operating sys-
tem, X-Windows in Unix; or any other available operating
system incorporating a GUI. In the example shown, a
window 302 contains a text document 304. Windows like
window 302 can also group and display other objects or
displays from an application program. A menu bar 308 may
be included in window 302 in some GUI embodiments
which permits pop-up menus 307 to appear by selecting
menu heading targets 310 with a user-controlled graphical
object 306, such as a cursor, that is controlled by the user via
user object 12. In the subsequent description, the terms
"user-controlled graphical object" and "cursor** will be used
interchangeably.

[0087] The present invention provides "click surfaces"
which allow a user to select or initiate a program function
while not requiring the user to select a physical input device
on the user object 12, such as a button. The click surfaces use
force feedback to present the user with a resistant surface
that must be moved or depressed to activate the function. For
example, force is output in a direction opposite to the
movement of the cursor 306 into the click surface to cause
the feel of a spring or other resistive element. When the
cursor has moved a sufiBcienl distance "into" the click
surface, the program function is initiated as if the user had
selected a button on the user object 12. This operation is
described in greater detail below with regard to the different
types of click surfaces presented herein.

[0088] Three different types of click surfaces are herein
described: an analog button, described with reference to
FIGS. 5a-5g; a positive action button, described with ref-
erence to FIGS. 6a-6g; and a static selection surface,
described with reference to FIGS. 7a-7d and 8. These three
types of click surfaces are actually implemented with force
feedback in the same way, but are displayed differently in the
GUI 300, The visual differences between these types of click
surfaces causes users to perceive them as quite unique and
different from each other. Examples of these types of click
surfaces are described below.

[0089] Click surfaces 320 and 322 of the present invention
are displayed on the side of window 302, These surfaces

function as targets, like other objects in GUI 300, and have
appropriate forces associated with them. Click surfaces 320
and 322 also have a command gesture associated with them,
such as a physical button press. Thus, by interacting the
cursor 306 with click surface 320 or 322, the user can select
a program function associated with the selected click surface
without having to physically press a button on the interface
device 13 or perform some other manual command gesture
associated with a physical input device.

[0090] In the embodiment shown, click surface 320 can be
graphically implemented as any of the types of click sur-
faces. Click surface 320 can act as a close button for window
302. When the user selects the click surface 320 in the
appropriate fashion (described below), the window 302
closes and is removed from GUI 300.

[0091] Similarly, click surface 322 can perform a different
desired function, such as enlarging window 302 to full size
such that it covers the entire screen. Once the window covers
the entire screen, cUck surface 322 can be displayed on the
inside of the window 302 border to allow the user to select
the previous size of the window 302. Preferably, in the full
size window state, click surface 322 is displayed in an "on"
state i.e., the surface 322 is displayed at a level lower than
the "olF* stale, as if the click surface 322 were a button that
had been pressed down. If click surface were selected again
by cursor 306, the click surface "button" would be displayed
back in its higher level, unpressed condition to indicate the
off state.

[0092] In addition, the user can designate desired func-
tions for any specified click surfaces 320 or 322 in some
embodiments. Since click surfaces 320 and 322 are part of
button objects visually attached to the window 302, the click
surfaces 320 and 322 preferably control functions of win-
dow 302. Herein, click surfaces may also be referred to as
graphical "buttons" since their operation may resemble
physical buttons, especially when the click surfaces have
two or more states.

[0093] Dialog box 330 is another graphical object dis-
played in GUI 300. Box 330 includes a display area 332 for
displaying text, files, etc., and a check box 333 and standard
graphical buttons 334 which a user selects with a physical
button on the user object 12. In addition, click surfaces 335
and 336 are provided coupled to the edge of dialog box 330.
Click surface 335 performs a checking or unchecking of the
associated check box 333, depending on the state of the cUck
surface 335 and the check box 333. Each click surface 336
performs the same function as the standard button 334
positioned just above it, except that no physical button need
be pushed by the user to initiate the associated function
when selecting a click surface 336, as explained below.
Other similar click surfaces can be displayed on the edge or
inside dialog box 330, and may be associated with other
objects or not, as desired.

[0094] Icon 340 is another graphical object displayed in
GUI 300 and may be associated with a chck surface. For a
normal icon, the user guides the cursor 306 over the dis-
played area of the icon 340 and pushes a physical button on
user object 12 to initiate the function associated with the
icon, which is typically executing an application program
associated with the icon (or selecting the icon itself to drag
it, show properties of it, etc.). In the present invention, icon
340 can be implemented with one or more click surfaces

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342. These operate similarly to ihc click surfaces 320, 322,
and 336. For example, when the sialic selection surface type
of click surface is provided, the click siuface can be imple-
mented as one of the displayed surfaces of the graphical
object (or target) itself and no separate displayed surface or
button shape need be displayed. The click surfaces 342 can
be the displayed borders of the icon 342, as shown, or may
be invisible surfaces displayed a short distance away from
the borders of the icon. This embodiment is described in
greater detail with respect to FIG, 8. Other graphical objects
in GUI 300 can also incorporate the selection surface type of
cUck surface in the displayed borders of the object, like the
described embodiment of icon 340. For example, standard
graphical buttons 334, the border of window 302, the sides
of pop-up menu 307, the edges of the displayed portion of
screen 20, or other objects can be or include click surfaces
of the present invention. When the click surface is selected
by moving the user object against an opposing force of the
click surface, a command gesture is provided to the host
computer as if a physical button on mouse or other input
device was pressed.

[0095] In other embodiments, one side of icon 340 can be
provided as a click surface, and another side of the icon can
be implemented as a double click surface. If the user selects
the click surface, a single click (command gesture signal) is
input to the host computer, and the user selects the icon and
may then drag it, show its properties, etc. If the user selects
the double-click surface of the icon, the host computer
receives two clicks, indicating that a program associated
with the icon should be immediately executed. Another
surface of the icon 340 could be used as a right button click
corresponding to pressing the right physical button of the
mouse, a middle button click for the middle button of the
mouse, etc.

[0096] In other embodiments, icon 340 can include the
other types of click surfaces in its borders, such as analog
buttons and positive actions buttons. For example, one side
of icon 340 can be displayed to move inward with the force
exerted by the user until the trigger point of the button is
reached. Or, the side of icon 340 can be moved to the "on"
position only after the trigger point is reached, as for positive
action buttons. In yet other embodiments, only a portion of
the side of the icon need be moved.

[0097] A click surface can also be represented on irregular
or curved objects, such as circles, ovals, or other shapes.
Preferably, movement normal to the point of contact into the
graphical object will activate the click surface once the
trigger position is reached. For example, movement towards
the center of a circular graphical object can activate a click
surface on the circumference of the circle. In some embodi-
ments, a direction of movement into the click surface can
select different results or stales of the click surface.

[0098] In yet other embodiments, click surfaces of the
present invention can be provided in a three-dimensional
graphical user interface or other graphical environment. For
example, if a graphical object is represented as a cube, click
surfaces can be provided on any side of the cube. If a
graphical object is represented as a sphere, the click surface
can be incorporated into the circumference of the sphere,
llie user can "push" the cursor toward the center of the
sphere, and the trigger position (described below) can be
positioned at a predetermined point along the radial distance

to the center of the sphere. Thus, in a 3-D environment, the
user can select or activate a click surface to pick up, move,
or otherwise manipulate the associated 3-D object.

[0099] Herein, the movement of user object 12 in the local
frame 30 is often referred to as movement in the displayed
host frame 28. That is, movement of user object 12 in a
direction in the local frame 30 has a corresponding move-
ment in the host frame 28. Thus, when the user object 12 is
"moved" within GUI 300 and with reference to displayed
graphical objects, this relationship with the firames is herein
inferred.

[0100] FIGS. Sa-Sg illustrate the operation of an analog
button type of click surface. FIGS. Sa-Sd illustrate the
activation or "turning on" the analog button, and FIGS,
Se-Sg illustrate the deactivation or "turning off" of the
analog button. Of course, in other embodiments, the activa-
tion described here can be used to deactivate a button or
function, and the deactivation described here can be used to
activate a button or function. In yet other embodiments, the
analog button may have only one state and be used as more
of a "selector" rather than a button having two states. Much
of the following detailed description is also applicable to the
other click surfaces described herein, except for those prop-
erties unique to the analog button (described below).

[0101] FIG. 5a illustrates analog button 350 displayed in
a deactivated state in GUI 300 or other graphical environ-
ment on display screen 20. Cursor 306 is controlled by the
user manipulating mouse 12 or other user object. Button
portion 371 is a graphical object shown as a rectangular
shape and includes a surface 352 which the user is intended
to interact with to activate and deactivate the button. In other
embodiments, the side surfaces can also be used as click
surfaces and act as surface 352. Button portion 371 can also
be provided as other shapes or configurations in other
embodiments. Analog button 350 may also be attached to
another graphical object 353 with which the button 350 is
associated, such as window 302 shown in FIG. 4.

[0102] When the user moves user object 12 so that cursor
306 moves against surface 352 of the analog button 350,
then force is output on the user object 12 in the direction
opposing compression of the surface 352. This force is
represented as arrow F in FIG. Sa, and feels to the user as
if the cursor 306 and the user object 12 have moved against
a compliant surface. The designation Xq indicates the posi-
tion of the surface 352 along the x-axis 354 in the deacti-
vated state, and the designation X indicates the current
position of the user object 12 with respect to the x-axis 354
in the host frame that corresponds with the current position
of the user object 12 in the local frame 30, where X-Xq in
FIG. 5a.

[0103] FIG. 5b illustrates cursor 360 being moved "into"
the analog button surface 352 in a direction shown by arrow
356. The user moves user object 12 in a direction corre-
sponding to direction 354 to cause this movement. A spring
force, designated by arrow F, is output to oppose this motion,
where the spring force magnitude is determined as follows:

f-k^i^Co'Xh (3)

[0104] where k is a spring constant, Xq is the original
position of the surface 352 in the deactivated state, X is the
current position of the user object 12, and F is the resulting
spring force magnimde. The force is applied in a direction

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Opposing the movement of the user object from the local
*'origin," which is the original contact point between the
cursorAiser object and the surface 352 of the analog button.
The force F is thus proportional to the distance between the
current position of the user object and the original position
of the surface 352. ITie spring force will thus feel stronger
to the user the farther from the position Xo the user
object/cursor is moved. In other embodiments, a spring
(restoring) force can be modelled with an exponential stiff-
ness or other relationship rather than the linear stiffness of
Equation (1). Also, a saturation region can be provided,
where the magnitude of force generally remains constant
when the user object is moved past a particular distance. In
some embodiments, the saturation force magnitude is can be
limited to a predetermined percentage of the maximimi
possible output force in a the selected degree of freedom, so
that overlay forces can be overlaid on top of the restoring
force sensation.

[0105] The magnitude of the restoring force F might be
changed in other embodiments by altering the spring con-
stant k. For example, a different k can be used in each of the
two states of a button. In other embodiments, k might be
varied depending on a different characteristic or condition.
For example, k can be proportional to the size of a button or
surface. In other embodiments, other types of forces can be
provided for click surfaces of the present invention, such as
a damping force (dependent on velocity of the user object),
a vibration, etc. A friction force might be added to the spring
force of equation (1) for further effect, and/or an inertia
force. Also one or more overlay forces may be associated
with the determined spring force. Overlay forces, also
known as "effects", are forces applied to the user object in
addition to the restoring force and may be used to provide
information to the user or provide some other effect. Overlay
forces may include such force sensations as jolts, vibrations,
etc.

[0106] In the analog button type of click surface, the
movement of the user object 12 in direction 354 causes the
siuface 352 to be displayed as moving with the user object.
In addition, cursor 306 is displayed as moving and keeping
in contact with the surface 352 as the surface is moved. ITie
display of the cursor and the surface 352 is preferably
performed by the host computer 18, while the force F output
on the user object 12 is preferably performed by the local
microprocessor 200. The coordination between the display
and the forces is accomplished with commands sent from the
host to the microprocessor and data sent from the micro-
processor to the host computer. This provides the user with
visual feedback of the cursor 306 moving correspondingly
with the user object 12, and the visual engagement with
surface 352 that corresponds with the force feedback felt as
the spring force.

[0107] In one embodiment, the microprocessor can deter-
mine when contact between the user object and the click
surface is made. For example, the host computer can provide
the location and other properties of click surfaces within the
graphical environment to the microprocessor beforehand,
and the microprocessor independently determines when
contact has been made. In a different embodiment, the host
computer 18 can detect when a cUck surface is contacted by
the cursor and user object, and can immediately send a
command indicating to the microprocessor to implement a

click surface at the current position of the user object. These
two embodiments are described in greater detail below.

[0108] Also, in the preferred embodiment, lateral move-
ment of user object 12 and cursor 306 is limited while the
ciu^r 306 is engaged with the button 350. For example, in
FIG. 5b^ the user is preferably prevented from moving
cursor 306 past the edges 355 of button 350 through the use
of obstruction forces that are output on user object 12 (and
similarly for the other chck surfaces described herein).
These forces are applied in the opposite direction to the
movement of the cursor that would move the cursor "off the
edge" of the button. This is very helpful in assisting the user
to keep the cursor 306 engaged with the button and not
inadvertently slide the cursor off surface 352. In other
embodiments, wall surfaces can be visually displayed to
correspond with these side obstruction forces. In yet other
embodiments, the side obstruction forces are not provided,
especially if the surface 352 is large enough so that the
cursor will not easily move off the edge of the button.

[0109] In FIG. 5c, the user object 12, cursor 306, and
surface 352 have continued movement in direction 356 and
have reached a point X-r which is the "trigger position", i.e.,
the position on the x-axis which causes the button to change
state to an activated or "on" state (X«X-j.). At this point, a
change in the force output on the user object is made.
Preferably, as the button enters the on state, the force F is
changed to depend on the following relationship:

F-**(^E-^ (2)

[0110] where k is the spring constant, X is the cuxrent
position of the user object 12, and X^ is the "engaged
position" of the button, i.e., the position at which surface 352
of the button will be displayed when the button is in the on
state (as described below with respect to FIGS. Se-Sg).
Thus, the force F will change from being based on the
current position with reference to the deactivated position
Xq, to being based on the current position with reference to
the activated position X^. Since the position X^ is in the
negative (down) direction from the trigger position X^, the
user will feel an immediate change in force on user object 12
when the trigger position has been attained as shown in FIG.
5c. This change in force feels like a "pop" to the user, and
this feeling is preferably enhanced by a large force spike in
the present invention. This force spike is, for example, an
unstable but momentary pulse of force, and output in any
direction. The force spike serves to accentuate the haptic cue
to the user that the button has been activated and is now in
the on state. Of course, the user may continue to move user
object 12 past point X^. if he or she desires, but the force is
now based on equation (2).

[0111] Once the surface 352 has been moved to the trigger
position, the interface device 14 sends a signal to the host
computer indicating that a command gesture or "click" has
been made by the user with reference to graphical object
354, which in non-click-surface embodiments . would be
caused by the user pressing a physical button.

[0112] FIG. Sd illustrates analog button 350 after cursor
306 has been withdrawn from surface 352 and the surface
352 has visually moved from the trigger position X-p to the
engaged position X^. If the cursor 306 is kept in contact with
surface 352 during this movement, the user would feel the
spring force on user object 12 based on equation (2) (the user

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may even be able to hold the surface and prevent it from
reaching position Xg by keeping the cursor in the way). In
another embodiment, the surface 352 can automatically be
moved to position while the cursor is redisplayed to a
position just beyond the surface 352 and out of contact with
it, while the forces on user object 12 are removed. The
surface 354 stays at the engaged position X^ until the user
desires to move the button back to the disengaged stale, as
described with reference to FIGS. Se-Sg.

[0113] In other embodiments, X^ can be at the same
position on the X-axis 354 as or X^ can be further from
Xo than X-p in direction 356.

[0114] FIG. 5e illustrates analog button 350 in an
engaged, activated, or "on" state, where surface 352 of the
button is positioned at position Xg on x-axis 354. Once the
user decides that he or she wishes to change the button to the
deactivated state, the user moves cursor 306 to contact the
surface 352 of the button 350. The user then feels the force
F opposing motion into the surface of the button, where F is
based on equation (2) presented above.

[0115] FIG. 5/ illustrates the user moving user object 12
and cursor 306 such that the current position X of the user
object 12 is at the trigger position X^. In the analog button
type of click surface, the surface 352 and cursor 306 are
visually moved on display screen 20 in conjunction with the
corresponding motion of user object 12 along axis 354. In
FIG. Sf, the user object has been moved to the trigger
position, thus causing the button to switch to an off or
deactivated state. The force output on the user object 12 then
changes from being based on equation (2) to being based on
equation (1), presented above. This feels to the user like a
"pop" or jolt, which is preferably accentuated by a force
spike similar to the activation force spike described above.
Thus the user is informed of the deactivation of the button
through the forces output on the user object 12. A command
gesture is signaled to the host computer al this time, as in
FIG. 5c above.

[0116] FIG. Sg illustrates analog button 350 in a deacti-
vated or off state, where the surface 352 has visually moved
from the trigger position Xy. past the engaged position X^,
and is positioned at the original deactivated position Xq,
where the surface 352 continues to be displayed until the
user wishes to again change the button state. Similar to the
motion after engagement of the button, the user will feel
force F based on equation (1) on the user object 12 if cursor
306 is held in engagement with surface 352 after the
deactivation of the button; or the button can automatically
pop back to position Xo while the cursor is redisplayed out
of its way, as explained above.

[0117] FIGS. 6a-6g illustrate the operation of a positive
action button type of click surface. FIGS. 6a'6d illustrate
the activation or "turning on" of the positive action button,
and FIGS. 6e-6g illustrate the deactivation or "tiu'ning off*'
of the positive action button. Of course, in other embodi-
ments, the activation described here can be used to deacti-
vate a button or function, and the deactivation described here
can be used to activate a button or function.

[0118] FIG. 6a illustrates positive action button 370 dis-
played in a deactivated slate in GUI 300 or other graphical
environment on display screen 20. Cursor 306 is controlled
by the user manipulating user object 12, as explained above.

and has been moved to contact surface 372 of the positive
action button 370. The position of surface 372 in the button's
deactivated state is shown as position Xo, and the current
position of the user object 12 as it corresponds to the
displayed host frame 28 is shown as position X. Position X
is at position Xo in FIG. 6a.

[0119] As in the analog button embodiment described
above, a force is output on the user object in the direction
opposite to the wall, shown as arrow F. This force is
preferably a spring force and is determined from equation
(1) presented above. Other types or magnitudes of forces can
also be output in other embodiments (damping force, vibra-
tion, texture, jolt, etc.).

[0120] In FIG. 6b, the user has moved the user object 12
in a direction corresponding to direction 374 on the display
screen along x-axis 376. The current position of the user
object 12 is indicated as dashed line X. In the positive action
button embodiment, the surface 372 of the button does not
move with the user object; thus, surface 372 continues to be
displayed at position Xo. Likewise, cursor 306 remains
displayed at the surface 372 at position Xo during the
movement of the user object in direction 374. During this
movement, the force F continues to be output on the user
object 12 as in FIG. 6a. Thus, the user receives haptic
feedback that the button is being pushed, but receives no
visual feedback in the form of a moving button. This
breaking of the mapping between the position of the cursor
306 and the user object 12 provides the user with the illusion
that surface 352 is immovable; since users are quite influ-
enced by their visual sense, the user sees the cursor and
surface 372 remaining in one position and beheves that the
force experienced is a rigid wall force that does not aUow
them any movement into it. This breaking of the mapping is
described in greater detail in patent application Ser. No.
08/664,086, incorporated by reference herein.

[0121] FIG. 6c illustrates the user object 12 having a
current position of X at the trigger position Xj. on the x-axis
, i.e., the user object 12 has been moved and has reached the
trigger position X^^. The surface 372 is still displayed at
position Xo until position X^^ is reached by the user object,
as explained below. At point Xt, the force F output on the
user object 12 changes from that of equation (1), based on
the position Xo, to the force based on equation (2), based on
position Xg. This explained in greater detail with respect to
FIGS. Sa-Sd. As with the analog button embodiment, the
transition to the force of equation (2) is felt as a smaD pop,
and is enhanced with a force spike to allow the user to more
easily feel the trigger position. A command gesture is sent to
the host computer once the surface 372 reaches position X^.

[0122] In FIG. 6d, ihe user object 12 has just reached
position Xp and has been moved back away from button 370.
Surface 372 has been redisplayed at engaged position X^,
which is a position between X-p and Xo, and indicates that
the positive action button is in the activated or on state. In
one embodiment, as the surface 372 is redisplayed at the
engaged position, the cursor 306 is redisplayed just beyond
(out of contact with) the new engaged position and all forces
on the user object are removed; the button thus pops the
ctu^r away. In another embodiment, the surface might only
be displayed at position X^ after the cursor moves out of the
way, or if Ihe user does not exert opposing force on the
siu-face. Thus, the user receives visual feedback that the

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buttoD has been activated only after the trigger position X-p
has been reached by the user djject 12. While not as intuitive
as the analog button which displays the surface 352 at the
current position of the user object, the positive action button
is less computationally intensive for the host microprocessor
180 since the button has only two displayed states.

[0123] FIGS. 6^-6^ illustrate the deactivation of a positive
action button, i.e., the process of turning off the button. In
FIG. 6e, the user moves user object 12 and cursor 306
against surface 372 of the button. The force F experienced
by the user object 12 is based on equation (2) presented
above.

[0124] FIG. 6/ illustrates the user moving the user object
in direction 374. As with the activation of button 370, the
smface 372 and cursor 306 are not moved in conjunction
with the user object, and a force F based on equation (2) is
output from the user object. Again, the breaking of this
mapping provides the user with the illusion that the surface
372 is a hard, immobile surface. In FIG. 6/, the user object's
current position, indicated as X, reaches the trigger position
Xt, which is preferably the same trigger position as for the
deactivation shown in FIGS. 6a-6d and has the same effect.
In other embodiments, different trigger positions for activa-
tion and for deactivation of a click surface can be provided.

[0125] In FIG. 6g, after the trigger position X^ has been
reached as shown in FIG. 6/, the surface 372 is redrawn at
the disengaged or off position Xo similarly as it was redrawn
at position X^ in the activation process. Cursor 306 resumes
tracking its position corresponding to the position of user
object 12, which has been moved away from the button 370
in FIG. 6g, The button can be re-activated by moving the
cursor 306 against surface 372, as described vrith reference
to FIGS. 6a-6d,

[0126] FIGS. la-Id illustrate the operation of a static
selection surface type of click surface. This typ^ of click
surface requires no visual updates at all on display screen 20
and is thus useful for use with existing graphical objects in
GUI without having to implement new graphical images or
animations for those objects. The displaying functions are
preferably handled by the host computer 18, while the force
feedback functions are handled preferably by the local
microprocessor 200; thus, the host has less of a processing
burden using static selection surfaces.

[0127] FIG. 7a illustrates a static selection surface 400
which can be made part of an existing graphical object 402
or can be part of a special graphical object 402 that specifi-
cally provides selection surface 400. Any other surfaces of
the object 402 can be implemented as static selection
surfaces also, if desired. As shown, the button is in a
deactivated or off slate. For static selection surfaces, there is
no specific way for the user to determine whether the
selection surface is in an on state or an off state; thus, in the
preferred embodiment, other indicators can provide this
information, such as a color of the object, a sound when
contacting the object, etc. In other embodiments, the selec-
tion surface may have only one state and is used to select the
graphical object. In FIG. 7a, the user has moved user object
12 and cursor 306 against surface 400. A force F is applied
to the user object in the direction shown and based on
equation (1) above, similar to force F in FIGS. Sa-Sg and
6a-6g above.

[0128] FIG. 7b illustrates user object 12 being moved in
direction 404 along x-axis 406. The current position of the

uiser object 12 on the x-axis is shown as position X. As with
the positive action button in FIG. 6b, the cursor 306 and the
surface 400 are displayed at Xo, unchanged &om the time of
first contact of cursor 306 and surface 400. Thus, the
mapping between the cursor 306 and the user object 12 is
broken as described with reference to FIG. 6 above. The
force F is continually output on the user object 12 as the user
object is moved in direction 404.

[0129] In FIG. 7c, the user object 12 has been moved to
the trigger position Xj.. As in the buttons described above,
this causes the button to go into the on or activated state.
However, unlike the analog button and positive action
button, the force F on the user object does not change at this
point. Since there is no engaged position X^ for the selection
surface 400, equation (2) is not used, and the force F is
always determined based on the current user object position
with reference to the surface 400 at position Xo. Preferably,
a force spike or other force signal is output on the user object
12 to cue the user that a change of button state has occurred.
In addition, a command gesture is sent to the host computer
18.

[0130] As shown in FIG. 7d, the surface 400 is displayed
at Xo even when the buUon has changed stale to the on state.
The user knows the button state has changed based on the
force spike output when the user object 12 was at the trigger
position Xt (also, other indicators such as color of the buUon
can be displayed to indicate the change in slate).

[0131] The process of changing selection surface 400 back
to the off state is similar to the process described in FIGS.
7a-ld, Since the surface 400 is not moved, there is no
displayed difference between the engaged state and the
disengaged state.

[0132] In alternate embodiments, an invisible engaged
position Xg can be provided for selection surface 400. This
would cause the force F to be determined differently depend-
ing on the state of the button as determined by equations (1)
and (2). Also, different types of force can be output depend-
ing on the state of the button to provide haptic information
on current button state. For example, a spring force can be
output when the user changes the off state to the on state, and
texture/spring force (i.e. the feel of bumps combined with a
spring) can be provided when the user changes the on slate
to the off stale.

[0133] FIG. 8 is diagrammatic illustration showing an
alternate embodiment 410 of static selection surface 400 in
which the mapping between cursor 306 and the position of
the user object 12 is not broken. After the initial contact
between cursor 306 and surface 410, the user moves the user
object 12 in a direction shown by arrow 412. The ciu'rent
position of the user object 12 is shown by dashed line X. The
cursor 306 is also displayed at dashed line X, since the
cursor 306 continues to be displayed at the position of the
user object 12 in this embodiment. Tlie surface 410, how-
ever, remains at the original position Xo. The force F is
output on the user object during this movement as described
in the embodiment of FIG. 7. When the user object 12 and
cursor 306 reach trigger position X^, the button stale
changes (or the object 402 is selected, see below) as
described above. Again, the user preferably feels a force
spike or other cue on the user object 12 at the trigger position
X,. to indicate the change in state.

[0134] The embodiment of FIG. 8 can be used to provide
the user with visual feedback as to the actual position of the

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user object 12 with respect to the surface 410 and graphical
object 402, This embodiment might be used where graphical
object 402 is an icon or similar object in a GUI 300.
Normally, when the user selects an icon in a non-force-
feedback GUI, the cursor 306 is guided over the icon at
which point the user presses a physical button to select the
icon or a function. The embodiment of FIG. 8 is similar to
such a case, where cursor 306 is displayed over the object
402 but the user manipulates the spring force of the force
feedback to select the icon instead of pressing a physical
button. Such an embodiment is well suited to an object 402
having selection surfaces 410 provided on all displayed
sides of the object, thus allowing a user to conveniently
select the selection surface when approaching the object
with the cursor from any direction.

[0135] In addition, for either of the embodiments of FIGS.
7 and 8, a static selection surface 400 or 410 may be
invisible to the user and displayed, for example, a predeter-
mined distance away from the displayed borders of the
graphical object 402. For example, the force F may be output
on the user object when the cursor 306 first encounters the
invisible click surface. If the user object 12 continues to be
moved toward the object 402, a trigger position Xy will
eventually be reached, as described above, which will select
the graphical object or change the stale of a graphical button.
The displayed border of the graphical object can be provided
as a visible trigger position in such an embodiment, if
desired.

[0136] With respect to all the click surfaces of the present
invention, in one embodiment, the user may change the state
of a button twice without disengaging the cursor 306 from
the surface 352, thus causing the button to be in its original
state before the user changed it. However, if the user wishes
to change the button state after changing it twice, the cursor
306 must preferably be moved out of contact with surface
352 and then re-contacted. 'ITiis prevents the user from
accidentally selecting the click surface twice. An exception
to this is that the cursor is considered out of contact with
surface 352 by being positioned just beyond position Xg
when the button is in the on position, even when the siu'face
is not displayed at X^ (as in the selection surface embodi-
ments of FIGS. la-Id and 8). In other embodiments, the
user may freely change the state of the button without
moving cursor 306 out of contact with the activating surface
of the graphical object.

[0137] It should also be noted that the described on and off
"states" of the click surfaces of the present invention need
not be implemented. Instead, the click surface might only be
able to be selected by a user, i.e., not be a toggling button.
For example, when selecting an icon normally with a
"double-click" of a physical mouse button, there is no on or
off Slate of the icon which must be determined; the click just
selects the icon. Likewise, the click surfaces can be used to
simply select a graphical object or a function associated with
the click surface rather than changing a state of a button.
Herein, the term "selecting" refers to both toggling a button
type of click surface as well as selecting a selection type of
click surface.

[0138] Similarly, any of the above click surfaces can also
be implemented with more than two states. For example, the
click surface might sequentially select the next state in a
sequence of multiple states each time the click surface is
selected by the user.

[0139] The click surfaces of the present invention are well
suited to the dual processor configuration of microprocessor
200 and host computer 18 described with reference to FIG.
3. The host computer preferably handles the display of
objects of images on the display screen, while the micro-
processor handles the output of forces during click surface
interaction. As explained above, in one embodiment, the
hc^t may be used to indicate to the microprocessor when the
cursor has encountered a click surface and thus signals the
microprocessor to begin the output of click surface forces.
For those buttons that require little or no update on the
display screen (e.g., the positive action buttons and static
selection surfaces), the host would only need to provide this
indication and would not need to update the button during
the click surface engagement (for static selection surfaces).
The computational burden on the host is thus effectively
reduced.

[0140] Likewise, the use of local microprocessor 200
substantially reduces the computational burden on the host
18 when the mapping between cursor 306 and user object 12
is broken in the positive action button and static selection
surface embodiments described above. Tlie local micropro-
cessor 200 can "clip" position data to the host so that the
break in mapping is invisible to the host. Since the local
processor reports user object positions to the host, the local
processor can "clip" the position data for the user object 12
when the mapping is to be broken, i.e., the microprocessor
200 does not report the position data in the direction
perpendicular to the click surface to the host during move-
ment of the user object into the surface (lateral movement
and movement away from the click surface are still
reported). From the host computer's point of view, no
movement of the user object into the click surface has been
detected, so the cursor 306 is displayed at its original contact
position with the unmoving click surface. The host computer
docs not have to keep track of a visual-physical dichotomy,
since it simply does not receive user object movement data
when the dichotomy is in operation.

[0141] As mentioned above, two embodiments can be
provided for coordinating the host's display of the graphical
environment, including click surfaces and cursor, with the
local processor's control of output forces. In one embodi-
ment, the host computer 18 can detect when a click surface
is contacted by the cursor. Since the host is ah-eady deter-
mining collisions and interactions between the cursor and
other graphical objects in the graphical environment, the
host can also detect contact between the cursor and click
siu-faces using position data of the user object reported by
the microprocessor. When a click surface is contacted by the
cursor/user object, the host can immediately send a com-
mand indicating to the microprocessor to implement a click
surface at the current position of the user object and output
forces accordingly. The host also preferably sends any
required or desired properties or parameters of the click
surface to the microprocessor in a command. For example,
the microprocessor needs to know the direction and orien-
tation of the click surface with respect to the cursor so that
forces can be output with the proper direction and magni-
tude. The host can also send the microprocessor any par-
ticular information characterizing the click surface; possible
parameters for describing a click surface are provided below.
Thus, in this embodiment, the microprocessor 200 does not
need to determine when a click siu^face is engaged nor needs
to know the location of the click surface (just its current

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direction and orientation with respect to the cursor). The
microprocessor would simply provide output forces and
could report command gestures when the trigger position of
the click surface is reached.

[0142] In a different embodiment, the microprocessor can
independently determine when contact between the user
object and the click surface has occurred. For example, the
host computer can provide the location of click surfaces
within the graphical environment to the microprocessor
before any interactions take place, and the microprocessor
can store these locations in memory 204 (like the graphical
object "layout" described above). The commands from the
host to the microprocessor can include location and other
properties of the click surfaces, as detailed below. Later,
during user object movement, the microprocessor can con-
sult the stored locations of the click surfaces and the current
position of the user object to determine when the user object
makes contact with a click surface. The microprocessor then
provides the output forces and reports user object position
according to the stored properties of the click surface. The
host, meanwhile, simply displays the cursor at positions
reported by the microprocessor, and also may act on any
command gestures sent by the microprocessor when the user
object is at or past the trigger position.

[0143] In both these embodiments, the host computer can
be ignorant of the forces output on the user object and the
method used for selecting the graphical object associated
with the click surface. For example, when the user object
reaches the trigger position X^, the microprocessor 200 need
only report to the host that a physical button has been
pressed by the user (a "click", "double click" or any other
number of clicks can be reported to the host, depending on
the function desired). Thus, the host thinks that the graphical
object was selected using a physical button, and acts accord-
ingly. This type of implementation requires no special
software for the host to check for the trigger position X^; the
microprocessor 200 handles all such tasks. If no local
microprocessor 200 is used, then the host computer 18
directly keeps track of positions of the user object and the
cursor and must determine when to break the mapping
between user object and cursor.

[0144] If the click surface is to be used as a parameter in
a host command sent to the local microprocessor 200, or as
a host command itself, then it may be defined with param-
eters in the command, similarly to the scroll surface param-
eters in the enclosure command described above. For
example, parameters for a click surface can include a Style
parameter to specify the type of click surface desired (analog
button, positive action button, or static selection surface). A
Directionality parameter, either unidirectional or bidirec-
tional, can define the directions of engageability of the click
surface (one side or both sides). A location parameter can
define the location of the click surface in the graphical
environment. Other parameters can define the location of the
trigger position and engaged position of the click surface. A
Click Engage Speed parameter can be used to define a cursor
speed threshold below which the click surface is engageable.
dther parameters can define the force relationships/equa-
tions governing determination of forces for the click surface,
the current direction and orientation of the click surface with
respect to the current location of the cursor, edge forces of

the click surface which resist the cursor from slipping off the
surface, and whether the click surface provides a click or a
double click.

[0145] FTG. 9 is a flow diagram illustrating a process 500
of providing click surface of the present invention. The
process begins at 502, and in a step 504, the position of the
user object is sensed. Depending on the embodiment, either
the host computer 18 or the local microprocessor 200
performs the reading of the sensors. In one preferred
embodiment, the microprocessor 200 reads the sensors and
may convert the sensor data to values which are more
appropriate for the host computer 18 to manipulate with
reference to the GUI.

[0146] In step 506, the display of cursor 306 (or other
user-controlled graphical object) on display screen 20 or
other display device is updated according to the position of
the user object sensed in step 504, if applicable to the
embodiment. This step assumes that a normal isotonic
(position control) mode that displays the cursor 306 in a
position corresponding lo user object position is being
implemented. Of course, other effects can be provided to
display the cursor differently, depending on the program-
mer's or user's desired effect of the interaction between
experienced forces and perceived visual images.

[0147] In step 508, the process checks whether the cursor
306 is in contact with a click surface of the present inven-
tion. This click surface can be any of the three types
described above. This contact typically occurs when the tip
or other designated portion of cursor 306 is adjacent to
pixels of the displayed surface. In other embodiments, this
contact can be defined differently, as for example, a range,
contact when other conditions apply, etc. In one embodi-
ment, microprocessor 200 checks this condition from sensor
data and stored locations of the click surfaces; in another
embodiment, the host computer checks for the contact.

[0148] If no contact between cursor and click surface is
detected, then the process returns to step 502 to read the
position of the user object. If contact is detected, then in step
510, the appropriate click surface data is accessed from
memory that describes the parameters of the click surface.
For example, parameters may include the distance along the
X-axis between positions Xo and X^, between positions Xo
and Xe, the particular force relationships (such as equations
(1) and (2)) used for different states, a flag indicating
whether to break the mapping between cursor and user
object (as for the different embodiments of FIGS. 7 and 8),
tolerances delays before force effects or button selections are
implemented, and others as described above. In one embodi-
ment, the microprocessor 200 can retrieve such character-
istics from local memory 204; for example, these parameters
or characteristics were previously conveyed to the micro-
processor from the host computer across a communication
interface. Alternatively, the host can send these characteris-
tics to the microprocessor in a cotrmaand at the present time.

[0149] In step 512, the user object position is again sensed,
as in step 502. In step 514, the process checks whether the
user object 12 is moving into the contacted click surface
based on previous position data and current position data. If
not, for example when the user object moves away from the
surface, then the process returns to step 502. In some
embodiments, the user may move the cursor away from the
surface, and the surface will "follow** the cursor as it springs

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back to position or Xo; the user in some cmbodimenls
can feci the "push" of the surface from such an efifecl. The
force from such an effect can be determined using the same
relationship as for the force F provided in step 520 below.

[0150] If the user object is moving into the click surface,
then in step 516, the process checks whether the user object
has reached the trigger position X^ of the click surface. If
not, the process continues to step 518, where the click
surface and the cursor 306 are displayed appropriate to the
particular embodiment. For example, if an analog button is
used, then the surface and the cursor are both updated and
displayed with the position of the user object. In the pre-
ferred embodiment, this requires that the microprocessor
200 report the position of the user object normally, so that
the host computer can update the surface and the cursor on
the display. If an appropriate embodiment of a positive
action button or a static selection surface is used, then
neither the surface nor the cursor would be updated on the
display screen in step 518. In the preferred microprocessor
embodiment, then, the microprocessor need not report any
of the positions of the user object as it moves into the surface
to the host (clipping), since the host does not have to update
the screen.

[0151] After step 518, the process continues to step 520, in
which a force F is output on the user object based on the
original position of the surface, i.e., the magnitude of force
is proportional to the displacement from the original posi-
tion. For example, this original position might be position
Xo if the button is being activated, or it might be position X^
if the button is being deactivated. One example of such a
force is presented in equations (1) and (2) above. In other
embodiments, arbitrary forces not based on the original
position can be output. Preferably, the microprocessor 200
keeps track of the distance between the current position and
the original position of the surface and determines the
appropriate force. The process then returns to step 512 to
sense the position of the user object.

[0152] If the user object has reached the trigger position
X^ of the click surface in step 516 (or has moved past Xj.),
then the process continues to step 522, in which (in the
preferred microprocessor embodiment), the microprocessor
reports data representing one or more "clicks" or command
gestures to the host computer. This click data is preferably
identical to the click data that the host would receive if a
physical button on the mouse had been pressed; the host is
thus fooled into thinking such a physical button has been
pressed. Thus, as shown in FIG. 4, if the cUck surface 320
corresponding to the close button of the window 302 is
pressed, the host receives a "click" signal once the user
object moves to the trigger position. If the user selects the
click surface 335 corre.sponding to check box 333, the host
receives a "click" signal which causes the host to check the
box (on state) once the surface 335 gets to the trigger
position. If the user selects the trigger position of icon 340,
the host computer receives a double click signal (two clicks
in typically rapid succession) indicating that the user wishes
to execute a program associated with the icon. If no micro-
processor 200 is used, then the host itself determines
whether a trigger position indicates a click, double click, etc.

[0153] In next step 524, the click surface and the cursor
are displayed appropriate to the type of click surface imple-
mented. For example, when using an analog button, the click
surface is displayod moving from the position toward the
position Xg or Xo and the cursor 306 is displayed at the

corresponding position of the user object 12 (and may be
redisplayed away from the click surface as described above).
When using a positive action button, the click surface is
displayed at the new position X^ or Xo (unless, in some
embodiments, the user object is in the way) and the cursor
is displayed at the user object position. When using a static
selection surface, the click surface is always displayed at the
original position, and the cursor is displayed at the user
object position (unless, in some embodiments, the user
object is still within the borders of the graphical object).

[0154] In next step 526, forces are output on the user
object. Preferably, a force spike is output to indicate to the
user that the trigger position has been selected, as explained
above. In addition, a force based on the new position of the
button, whether it is Xo or X^, is determined and output. For
static selection surfaces, the new position of the button is the
same as the old one, so only the force spike teUs the xiser of
the trigger position. Of course, in other embodiments, other
types and magnitudes of forces can be output. Preferably, the
microprocessor 200 keeps track of the distance between the
current position and the new position of the surface and
determines the appropriate force. The process then returns to
step 512 to read the user object position.

[0155] In alternate embodiments, the click surfaces can be
totally host computer controlled, so that the host keeps track
of all positions, determines forces, and reads sensors
directly. However, the microprocessor 200 embodiment is
preferred since the microprocessor's handling of many of
these tasks allows the host computer to perform other tasks
more quickly,

[0156] It should be noted that some of the various steps
can be performed substantially simuhaneously, particularly
the host display of the cursor and other graphics and the
microprocessor's oulputting of forces. For example, steps
518 and 520 are preferably simultaneous, as well as steps
522, 524, and 526.

[0157] While this invention has been described in terms of
several preferred embodiments, it is contemplated that alter-
ations, permutations and equivalents thereof will become
apparent to those skilled in the art upon a reading of the
specification and study of the drawings. For example, many
different types of forces can be applied to the user object 12
in accordance with different types of click surfaces, different
states of the click surface, and different functions associated
with the click surface. Also, many varieties of graphical
objects in a GUI can be associated with click surfaces, and
many other types of computer and graphical environments
can make use of the click surfaces disclosed herein. In
addition, many types of user objects and mechanisms can be
provided to transmit the forces to the user, such as a joystick,
a mouse, a trackball, a stylus, or other objects. Furthermore,
certain terminology has been used for the purposes of
descriptive clarity, and not to limit the present invention. It
is therefore intended that the following appended claims
include all such alterations, permutations, and equivalents as
fall within the true spirit and scope of the present invention.

What is claimed is:

1. A method of providing a click surface in a graphical
environment implemented on a host computer for use with
a force feedback interface device coupled to said host
computer, the method comprising:

determining when a click surface of a graphical object
displayed in a graphical environment is contacted by a
user-controlled graphical object, said user-controlled

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graphical object being displayed at a position corre-
sponding to a position of a physical user object of said
interface device grasped by a user and moveable in a
degree of freedom;

outputting a force opposing movement of said user object
in a direction corresponding to movement into said
click surface and into said graphical object; and

when said user object has moved to or past a trigger
position past said contact with said click surface, send-
ing a command gesture signal to said host computer
indicating said graphical object has been selected as if
a physical input device on said user object had been
activated by said user.

2. A method as recited in claim 1 wherein said user
controlled graphical object is a cursor.

3. A method as recited in claim 1 wherein said user object
is determined to have moved to said trigger position when
said user object has moved a distance corresponding to
predetermined distance past said click surface from said
point of contact.

4. A method as recited in claim 1 wherein said force
opposing said movement of said user object is proportional
to a distance between a present position of said user object
past said click surface and an original position of said click
surface.

5. A method as recited in claim 4 wherein said force
opposing said movement of said user object changes to be
proportional to a distance between a present position of said
user object past said click surface and a new position of said
click surface, said change occurring when said user object
moves to said trigger position.

6. A method as recited in claim 1 wherein said graphical
object is a graphical button, and wherein said user object
moving to said trigger position either toggles said button
from an off state to an on stale or from an on state to an off
state.

7. A method as recited in claim 6 wherein said click
surface is displayed at a greater distance from said trigger
position when said button is in an off slate than when said
button is in said on state.

8. A method as recited in claim 1 wherein said user object
is a mouse and said interface device includes actuators for
outputting said force on said mouse.

9. A method as recited in claim 8 wherein said physical
input device is a button on said mouse that is pressed by said
user to be activated.

10. A method as recited in claim 1 wherein said click
surface is an analog button in which said click surface is
displayed moving with said user object when said user
object moves into said graphical object.

U. A method as recited in claim 2 wherein said click
surface is a positive action button in which said click surface
and said cursor remain displayed at an original position
while said user object moves past said click surface into said
graphical object, and in which said click surface is displayed
at a new position when said user object reaches said trigger
position.

12. A method as recited in claim 2 wherein said click
surface is a static selection surface in which said click
surface and said cursor are always displayed at an original
position of said click surface while said user object moves
past said click surface into said graphical object and when
said trigger position is reached.

13. A method as recited in claim 2 wherein said chck
surface is a static selection surface in which said click
surface is always displayed at an original position while said
user object and said cursor move past said click surface into
said graphical object.

14. A method as recited in claim 2 wherein said chck
surface hinders said cursor from moving out of contact with
said click surface when said cursor moves to the ends of said
chck surface.

15. A method as recited in claim 1 wherein said signal sent
to said host computer indicates that said physical input
device has been double-clicked.

16. A method as recited in claim 1 wherein said chck
surface is an edge of a window displayed in said graphical
environment.

17. A method as recited in claim 1 wherein said chck
surface is a graphical button displayed in a Web page
graphical environment.

18. A method as recited in claim 1 wherein said host
computer displays said graphical environment including
said chck surface and said user controlled graphical object,
and wherein a microprocessor controls said outputting said
force in parallel with said display of said graphical envi-
ronment, said microprocessor being local to said force
feedback interface device and separate from said host com-
puter.

19. A method as recited in claim 18 wherein said local
microprocessor sends said command gesture signal to said
host computer when said user object has moved to said
trigger position.

20. A force feedback interface device allowing interaction
with a chck surface of a graphical object displayed in a
graphical environment implemented by a host computer
system, the force feedback interface device comprising:

a user manipulatable object physically contacted by a user
and movable in physical space in at least two degrees
of freedom with respect to a ground, said user manipu-
latable object controlling a position of a cursor in said
graphical environment;

a sensor operative to detect said movement of said user
manipulatable object in physical space in said two
degree of freedom with respect to said ground;

an actuator coupled to said user manipulatable object
operative to apply an output force in at least one degree
of freedom of said user manipulatable object;

a local microprocessor, separate from said host computer
system, said local microprocessor reading said sensor,
reporting motion of said user object to said host com-
puter, and controlling said actuator, said microproces-
sor receiving an indication of a click surface of a
graphical object from said host computer, and wherein
said local microprocessor determines penetration of
said cursor into said cUck surface, wherein said micro-
processor outputs a force opposing motion of said user
object into said chck surface, and wherein said micro-
processor sends said host computer a signal indicating
said graphical object has been selected as if a physical
input device on said user object has been activated by
said user, said signal being sent when said user object
is moved to or past a trigger position into said chck
surface.

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21. A force feedback interface device as recited in claim

20 wherein said indication received by said microprocessor
includes parameters describing said click surface.

22. A force feedback interface device as recited in claim

21 wherein said parameters include a location of said click
surface in said graphical environment.

23. A force feedback interface device as recited in claim

22 wherein said microprocessor determines when said cur-
sor contacts said click surface.

24. A force feedback interface device as recited in claim
22 wherein said parameters include a location of said trigger
position past said click surface.

25. A force feedback interface device as recited in claim
20 wherein said indication received by said microprocessor
is a command from said host computer for said micropro-
cessor to output forces for said click surface at a current
position of said user object.

26. A force feedback interface device as recited in claim
25 wherein said host computer indicates a direction and
orientation of said click surface with respect to said current
position of said cursor.

27. A force feedback interface device as recited in claim
20 wherein said microprocessor clips data reported to said
host computer when said user object moves into said click
surface, such that data describing motion of said user object
in the direction into said click surface is not reported to said
host.

28. A force feedback interface device as recited in claim
20 wherein said user object includes a mouse, and wherein
said physical input device is a physical button on said
mouse.

29. A force feedback interface device as recited in claim
20 wherein said graphical object is a graphical button, and
wherein said user object moving to said trigger position
either toggles said graphical button from an off state to an on
stale or from an on state lo an off state.

30. A force feedback interface device as recited in claim
20 wherein said force opposing said motion of said user
object has a magnitude proportional to a distance between a
position of said user object into said click surface and a
position of said contact between said cursor and said click
surface.

31. A force feedback interface device as recited in claim
20 further comprising a safety switch for deactivating said
output force from said actuator when said safety switch is
opened.

32. A force feedback interface device as recited in claim
31 wherein, in an indexing function, a mapping between said
cursor and said user object is disabled when said safety
switch is opened.

33. A force feedback interface device as recited in claim
20 wherein said actuator is a voice coil actuator.

34. A force feedback interface device as recited in claim
33 wherein said user object is coupled to said actuator by a
linkage having a plurality of members.

35. A force feedback interface device as recited in claim
20 wherein said interface device and said host computer
commimicate using a Universal Serial Bus (USB), wherein
said actuators receive power from said USB.

36. A method for providing a force feedback click surface
in a graphical environment provided by a host computer, the
method comprising:

outputting a force on a user object grasped and manipu-
lated by a user in a degree of freedom when a cursor

controlled by said user object contacts said click sur-
face displayed in said graphical environment, said force
opposing motion of said user object that would move
said cursor into said click surface;

determining when said user object is moved to a point that
would correspond to movement to a trigger point
positioned into said click surface past said point of
contact between said cursor and said click surface; and

outputting a signal to said host computer indicating said
trigger point of said click surface has been reached.

37. A method as recited in claim 36 wherein said signal
output to said host computer indicating said trigger point has
been reached is equivalent to a signal sent to said host
computer when a physical button on said user object is
pressed by said user.

38. A method as recited in claim 37 wherein said click
surface is part of a graphical button having an on state and
an off state, wherein said state is toggled when said trigger
point is reached by said user object.

39. A method as recited in claim 36 wherein said click
surface is a portion of a graphical icon in said graphical
environment, and wherein said signal to said host computer
indicates that said icon has been clicked or double-clicked
by said user.

40. A method as recited in claim 36 wherein said method
is performed by a microprocessor, separate from said host
computer and local to an interface device that includes said
user object.

41. An apparatus for providing force feedback chck
surfaces for a user using an interface device and a host
computer system displaying a graphical environment, the
apparatus comprising:

means for providing input to said host computer system,
wherein said input describes a position of a physical
user object in at least one degree of freedom and is used
by said host computer system to update a position of a
user-controlled graphical object in said graphical envi-
ronment to correspond to a position of said user object;

means for applying a force to said user object in said at
least one degree of freedom when said user-controlled
graphical object engages a click surface displayed in
said graphical environment at an original position, said
force opposing motion of said user object in a direction
corresponding to a direction into said click surface; and

means for providing a click signal to said host computer
when said user object is moved to a trigger position past
said original position of said click surface in a direction
opposing said force, said click signal being equivalent
to a signal provided to said host computer when a
physical input device on said user object is activated by
said user.

42. An apparatus as recited in claim 41 wherein said
user-controlled graphical object is a cursor and said graphi-
cal environment includes a graphical user interface.

43. An apparatus as recited in claim 42 wherein said click
surface allows said user to select said at least one program
function associated with a graphical object with which said
click surface is associated.

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12/08/2003, EAST Version: 1.4.1